Diff of the two buildlogs: -- --- b1/build.log 2025-09-16 05:18:09.106187014 +0000 +++ b2/build.log 2025-09-16 05:29:57.703073154 +0000 @@ -1,6 +1,6 @@ I: pbuilder: network access will be disabled during build -I: Current time: Mon Sep 15 17:10:34 -12 2025 -I: pbuilder-time-stamp: 1757999434 +I: Current time: Tue Oct 20 01:41:10 +14 2026 +I: pbuilder-time-stamp: 1792410070 I: Building the build Environment I: extracting base tarball [/var/cache/pbuilder/forky-reproducible-base.tgz] I: copying local configuration @@ -24,53 +24,85 @@ dpkg-source: info: applying use-external-slicot.patch I: using fakeroot in build. I: Installing the build-deps -I: user script /srv/workspace/pbuilder/3413177/tmp/hooks/D02_print_environment starting +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/D01_modify_environment starting +debug: Running on ionos5-amd64. +I: Changing host+domainname to test build reproducibility +I: Adding a custom variable just for the fun of it... +I: Changing /bin/sh to bash +'/bin/sh' -> '/bin/bash' +lrwxrwxrwx 1 root root 9 Oct 19 11:41 /bin/sh -> /bin/bash +I: Setting pbuilder2's login shell to /bin/bash +I: Setting pbuilder2's GECOS to second user,second room,second work-phone,second home-phone,second other +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/D01_modify_environment finished +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/D02_print_environment starting I: set - BUILDDIR='/build/reproducible-path' - BUILDUSERGECOS='first user,first room,first work-phone,first home-phone,first other' - BUILDUSERNAME='pbuilder1' - BUILD_ARCH='amd64' - DEBIAN_FRONTEND='noninteractive' - DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=40 ' - DISTRIBUTION='forky' - HOME='/root' - HOST_ARCH='amd64' + BASH=/bin/sh + BASHOPTS=checkwinsize:cmdhist:complete_fullquote:extquote:force_fignore:globasciiranges:globskipdots:hostcomplete:interactive_comments:patsub_replacement:progcomp:promptvars:sourcepath + BASH_ALIASES=() + BASH_ARGC=() + BASH_ARGV=() + BASH_CMDS=() + BASH_LINENO=([0]="12" [1]="0") + BASH_LOADABLES_PATH=/usr/local/lib/bash:/usr/lib/bash:/opt/local/lib/bash:/usr/pkg/lib/bash:/opt/pkg/lib/bash:. + BASH_SOURCE=([0]="/tmp/hooks/D02_print_environment" [1]="/tmp/hooks/D02_print_environment") + BASH_VERSINFO=([0]="5" [1]="3" [2]="3" [3]="1" [4]="release" [5]="x86_64-pc-linux-gnu") + BASH_VERSION='5.3.3(1)-release' + BUILDDIR=/build/reproducible-path + BUILDUSERGECOS='second user,second room,second work-phone,second home-phone,second other' + BUILDUSERNAME=pbuilder2 + BUILD_ARCH=amd64 + DEBIAN_FRONTEND=noninteractive + DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=42 ' + DIRSTACK=() + DISTRIBUTION=forky + EUID=0 + FUNCNAME=([0]="Echo" [1]="main") + GROUPS=() + HOME=/root + HOSTNAME=i-capture-the-hostname + HOSTTYPE=x86_64 + HOST_ARCH=amd64 IFS=' ' - INVOCATION_ID='50b126e56677409cb62653b076206bfa' - LANG='C' - LANGUAGE='en_US:en' - LC_ALL='C' - MAIL='/var/mail/root' - OPTIND='1' - PATH='/usr/sbin:/usr/bin:/sbin:/bin:/usr/games' - PBCURRENTCOMMANDLINEOPERATION='build' - PBUILDER_OPERATION='build' - PBUILDER_PKGDATADIR='/usr/share/pbuilder' - PBUILDER_PKGLIBDIR='/usr/lib/pbuilder' - PBUILDER_SYSCONFDIR='/etc' - PPID='3413177' - PS1='# ' - PS2='> ' + INVOCATION_ID=821bb8ee2a8b491995cc2311776dbbd2 + LANG=C + LANGUAGE=et_EE:et + LC_ALL=C + MACHTYPE=x86_64-pc-linux-gnu + MAIL=/var/mail/root + OPTERR=1 + OPTIND=1 + OSTYPE=linux-gnu + PATH=/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path + PBCURRENTCOMMANDLINEOPERATION=build + PBUILDER_OPERATION=build + PBUILDER_PKGDATADIR=/usr/share/pbuilder + PBUILDER_PKGLIBDIR=/usr/lib/pbuilder + PBUILDER_SYSCONFDIR=/etc + PIPESTATUS=([0]="0") + POSIXLY_CORRECT=y + PPID=1338386 PS4='+ ' - PWD='/' - SHELL='/bin/bash' - SHLVL='2' - SUDO_COMMAND='/usr/bin/timeout -k 18.1h 18h /usr/bin/ionice -c 3 /usr/bin/nice /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.WLH30LMR/pbuilderrc_oQGw --distribution forky --hookdir /etc/pbuilder/first-build-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/forky-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.WLH30LMR/b1 --logfile b1/build.log octave-control_4.1.3-1.dsc' - SUDO_GID='111' - SUDO_HOME='/var/lib/jenkins' - SUDO_UID='106' - SUDO_USER='jenkins' - TERM='unknown' - TZ='/usr/share/zoneinfo/Etc/GMT+12' - USER='root' - _='/usr/bin/systemd-run' - http_proxy='http://46.16.76.132:3128' + PWD=/ + SHELL=/bin/bash + SHELLOPTS=braceexpand:errexit:hashall:interactive-comments:posix + SHLVL=3 + SUDO_COMMAND='/usr/bin/timeout -k 24.1h 24h /usr/bin/ionice -c 3 /usr/bin/nice -n 11 /usr/bin/unshare --uts -- /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.WLH30LMR/pbuilderrc_sN01 --distribution forky --hookdir /etc/pbuilder/rebuild-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/forky-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.WLH30LMR/b2 --logfile b2/build.log octave-control_4.1.3-1.dsc' + SUDO_GID=110 + SUDO_HOME=/var/lib/jenkins + SUDO_UID=105 + SUDO_USER=jenkins + TERM=unknown + TZ=/usr/share/zoneinfo/Etc/GMT-14 + UID=0 + USER=root + _='I: set' + http_proxy=http://213.165.73.152:3128 I: uname -a - Linux ionos11-amd64 6.12.43+deb13-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.43-1 (2025-08-27) x86_64 GNU/Linux + Linux i-capture-the-hostname 6.12.43+deb13-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.43-1 (2025-08-27) x86_64 GNU/Linux I: ls -l /bin - lrwxrwxrwx 1 root root 7 Aug 10 12:30 /bin -> usr/bin -I: user script /srv/workspace/pbuilder/3413177/tmp/hooks/D02_print_environment finished + lrwxrwxrwx 1 root root 7 Aug 10 2025 /bin -> usr/bin +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/D02_print_environment finished -> Attempting to satisfy build-dependencies -> Creating pbuilder-satisfydepends-dummy package Package: pbuilder-satisfydepends-dummy @@ -647,7 +679,7 @@ Get: 533 http://deb.debian.org/debian forky/main amd64 dh-octave all 1.10.3 [23.2 kB] Get: 534 http://deb.debian.org/debian forky/main amd64 libslicot0 amd64 5.9-1+b1 [1459 kB] Get: 535 http://deb.debian.org/debian forky/main amd64 libslicot-dev amd64 5.9-1+b1 [1559 kB] -Fetched 284 MB in 1min 38s (2892 kB/s) +Fetched 284 MB in 10s (27.5 MB/s) Preconfiguring packages ... Selecting previously unselected package libexpat1:amd64. (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 19917 files and directories currently installed.) @@ -2845,7 +2877,11 @@ fakeroot is already the newest version (1.37.1.2-1). 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded. I: Building the package -I: Running cd /build/reproducible-path/octave-control-4.1.3/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-genchanges -S > ../octave-control_4.1.3-1_source.changes +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/A99_set_merged_usr starting +Not re-configuring usrmerge for forky +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/A99_set_merged_usr finished +hostname: Name or service not known +I: Running cd /build/reproducible-path/octave-control-4.1.3/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-genchanges -S > ../octave-control_4.1.3-1_source.changes dpkg-buildpackage: info: source package octave-control dpkg-buildpackage: info: source version 4.1.3-1 dpkg-buildpackage: info: source distribution unstable @@ -2905,9 +2941,9 @@ LDFLAGS="-Wl,-z,relro -llapack -lblas -L/usr/lib/gcc/x86_64-linux-gnu/14 -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/14/../../.. -lgfortran -lm -lquadmath" \ /usr/bin/mkoctfile --verbose -Wall __control_slicot_functions__.cc common.cc TG04BX.f -lslicot /usr/bin/mkoctfile --verbose -Wall __control_helper_functions__.cc -g++ -c -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall __control_helper_functions__.cc -o /tmp/oct-47SJkO.o -gfortran -c -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -fcf-protection -Wall TG04BX.f -o /tmp/oct-k5gDu8.o -g++ -c -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall __control_slicot_functions__.cc -o /tmp/oct-Ek0U2r.o +g++ -c -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall __control_helper_functions__.cc -o /tmp/oct-v6OWvx.o +gfortran -c -fPIC -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -fcf-protection -Wall TG04BX.f -o /tmp/oct-uULrEc.o +g++ -c -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall __control_slicot_functions__.cc -o /tmp/oct-QEHMLp.o In file included from /usr/include/octave-9.4.0/octave/../octave/ov.h:69, from /usr/include/octave-9.4.0/octave/../octave/ovl.h:38, from /usr/include/octave-9.4.0/octave/../octave/ov-fcn.h:36, @@ -2970,8 +3006,8 @@ /usr/include/c++/15/bits/locale_conv.h:409:33: note: declared here 409 | class _GLIBCXX17_DEPRECATED wbuffer_convert | ^~~~~~~~~~~~~~~ -g++ -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall -o __control_helper_functions__.oct /tmp/oct-47SJkO.o -shared -Wl,-Bsymbolic -Wl,-z,relro -llapack -lblas -L/usr/lib/gcc/x86_64-linux-gnu/14 -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/14/../../.. -lgfortran -lm -lquadmath -flto=auto -ffat-lto-objects -Wl,-z,relro -g++ -c -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall common.cc -o /tmp/oct-EsVOKN.o +g++ -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall -o __control_helper_functions__.oct /tmp/oct-v6OWvx.o -shared -Wl,-Bsymbolic -Wl,-z,relro -llapack -lblas -L/usr/lib/gcc/x86_64-linux-gnu/14 -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/14/../../.. -lgfortran -lm -lquadmath -flto=auto -ffat-lto-objects -Wl,-z,relro +g++ -c -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall common.cc -o /tmp/oct-ugn3Ii.o In file included from /usr/include/octave-9.4.0/octave/../octave/ov.h:69, from /usr/include/octave-9.4.0/octave/../octave/ovl.h:38, from /usr/include/octave-9.4.0/octave/../octave/ov-fcn.h:36, @@ -3002,7 +3038,7 @@ /usr/include/c++/15/bits/locale_conv.h:409:33: note: declared here 409 | class _GLIBCXX17_DEPRECATED wbuffer_convert | ^~~~~~~~~~~~~~~ -g++ -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall -o __control_slicot_functions__.oct /tmp/oct-k5gDu8.o /tmp/oct-Ek0U2r.o /tmp/oct-EsVOKN.o -lslicot -shared -Wl,-Bsymbolic -Wl,-z,relro -llapack -lblas -L/usr/lib/gcc/x86_64-linux-gnu/14 -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/14/../../.. -lgfortran -lm -lquadmath -flto=auto -ffat-lto-objects -Wl,-z,relro +g++ -I/usr/include/octave-9.4.0/octave/.. -I/usr/include/octave-9.4.0/octave -pthread -fopenmp -g -O2 -ffile-prefix-map=/build/reproducible-path/octave-control-4.1.3=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wall -o __control_slicot_functions__.oct /tmp/oct-uULrEc.o /tmp/oct-QEHMLp.o /tmp/oct-ugn3Ii.o -lslicot -shared -Wl,-Bsymbolic -Wl,-z,relro -llapack -lblas -L/usr/lib/gcc/x86_64-linux-gnu/14 -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/14/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/14/../../.. -lgfortran -lm -lquadmath -flto=auto -ffat-lto-objects -Wl,-z,relro make[1]: Leaving directory '/build/reproducible-path/octave-control-4.1.3/src' copyfile /build/reproducible-path/octave-control-4.1.3/./src/__control_helper_functions__.oct /build/reproducible-path/octave-control-4.1.3/./src/__control_slicot_functions__.oct /build/reproducible-path/octave-control-4.1.3/./inst/x86_64-pc-linux-gnu-api-v59 @@ -3018,154 +3054,318 @@ Checking package... Run the unit tests... Checking m files ... -[inst/initial.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/initial.m -***** shared initial_c, initial_c_exp, initial_d, initial_d_exp +[inst/btaconred.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/btaconred.m +***** shared Mo, Me, Info, HSVCe + A = [ -1. 0. 4. + 0. 2. 0. + 0. 0. -3. ]; - A = [ -2.8 2.0 -1.8 - -2.4 -2.0 0.8 - 1.1 1.7 -1.0 ]; + B = [ 1. + 1. + 1. ]; - B = [ -0.8 0.5 0 - 0 0.7 2.3 - -0.3 -0.1 0.5 ]; + C = [ 1. 1. 1. ]; - C = [ -0.1 0 -0.3 - 0.9 0.5 1.2 - 0.1 -0.1 1.9 ]; + D = [ 0. ]; - D = [ -0.5 0 0 - 0.1 0 0.3 - -0.8 0 0 ]; + G = ss (A, B, C, D, "scaled", true); - x_0 = [1, 2, 3]; + AC = [ -26.4000, 6.4023, 4.3868; + 32.0000, 0, 0; + 0, 8.0000, 0 ]; - sysc = ss (A, B, C, D); + BC = [ -16 + 0 + 0 ]; - [yc, tc, xc] = initial (sysc, x_0, 0.2, 0.1); - initial_c = [yc, tc, xc]; + CC = [ 9.2994 1.1624 0.1090 ]; - sysd = c2d (sysc, 2); + DC = [ 0 ]; - [yd, td, xd] = initial (sysd, x_0, 4); - initial_d = [yd, td, xd]; + K = ss (AC, BC, CC, DC, "scaled", true); - ## expected values computed by the "dark side" + [Kr, Info] = btaconred (G, K, 2, "weight", "input", "feedback", "+"); - yc_exp = [ -1.0000 5.5000 5.6000 - -0.9872 5.0898 5.7671 - -0.9536 4.6931 5.7598 ]; + Ae = [ 9.1900 0.0000 + 0.0000 -34.5297 ]; - tc_exp = [ 0.0000 - 0.1000 - 0.2000 ]; + Be = [ -11.9593 + 86.3137 ]; - xc_exp = [ 1.0000 2.0000 3.0000 - 0.5937 1.6879 3.0929 - 0.2390 1.5187 3.0988 ]; + Ce = [ 2.8955 -1.3566 ]; - initial_c_exp = [yc_exp, tc_exp, xc_exp]; + De = [ 0.0000 ]; - yd_exp = [ -1.0000 5.5000 5.6000 - -0.6550 3.1673 4.2228 - -0.5421 2.6186 3.4968 ]; + # Since btaconred approximates an output controller, + # only its input/output behavior is important and is tested + # using n first Markov parameters. + # The state space representaton might have different signs + # of the states. + # By multiplying the matrices for the Markov parameters, numeric errors + # would propagate, therefor the accuracy of the results are limited to + # the accuracy of the given expected results - td_exp = [ 0 - 2 - 4 ]; + [Ao,Bo,Co,Do] = ssdata (Kr); + Ao = round (Ao*1e4)/1e4; + Bo = round (Bo*1e4)/1e4; + Co = round (Co*1e4)/1e4; + Do = round (Do*1e4)/1e4; - xd_exp = [ 1.0000 2.0000 3.0000 - -0.4247 1.5194 2.3249 - -0.3538 1.2540 1.9250 ]; + n = size(Ao,1); + m = size(Bo,2); + p = size(Co,1); + Mo = zeros (p,(n+1)*m); + Me = zeros (p,(n+1)*m); + Mo(:,1:m) = Do; + Me(:,1:m) = De; + + Aoi = eye (n,n); + Aei = eye (n,n); + for i = 1:n + Mo(:,(i-1)*m+1:i*m) = Co*Aoi*Bo; + Me(:,(i-1)*m+1:i*m) = Ce*Aei*Be; + Aoi = Aoi*Ao; + Aei = Aei*Ae; + endfor - initial_d_exp = [yd_exp, td_exp, xd_exp]; + HSVCe = [ 3.8253 0.2005 ].'; -***** assert (initial_c, initial_c_exp, 1e-4) -***** assert (initial_d, initial_d_exp, 1e-4) +***** assert (Mo, Me, 1e-4); +***** assert (Info.hsvc, HSVCe, 1e-4); 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/lyap.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lyap.m -***** shared M, Me - A = [2.0 1.0 3.0 - 0.0 2.0 1.0 - 6.0 1.0 2.0]; - Q = [3 1 1 - 1 1 -1 - 1 -1 0]; - X = lyap (A, Q); - M = A*X + X*A' + Q; - Me = zeros (3,3); -***** assert (M, Me, 1e-4); -***** shared M, Me - A = [2.0 1.0 3.0 - 0.0 2.0 1.0 - 6.0 1.0 2.0]; - Q = [3 1 -3 - 0 1 -2 - 1 1 0]; - X = lyap (A, Q); - M = A*X + X*A' + Q; - Me = zeros (3,3); -***** assert (M, Me, 1e-4); -***** shared X, X_exp - A = [2.0 1.0 3.0 - 0.0 2.0 1.0 - 6.0 1.0 2.0]; +[inst/place.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/place.m +***** shared A, B, C, P, Kexpected + A = [0, 1; 3, 2]; + B = [0; 1]; + C = [2, 1]; # C is needed for ss; it doesn't matter what the value of C is + P = [-1, -0.5]; + Kexpected = [3.5, 3.5]; +***** assert (place (ss (A, B, C), P), Kexpected, 2*eps); +***** assert (place (A, B, P), Kexpected, 2*eps); +***** shared F, F_exp, ev_ol, ev_cl + A = [-6.8000 0.0000 -207.0000 0.0000 + 1.0000 0.0000 0.0000 0.0000 + 43.2000 0.0000 0.0000 -4.2000 + 0.0000 0.0000 1.0000 0.0000]; - B = [2.0 1.0 - 1.0 6.0]; + B = [ 5.6400 0.0000 + 0.0000 0.0000 + 0.0000 1.1800 + 0.0000 0.0000]; - C = [2.0 1.0 - 1.0 4.0 - 0.0 5.0]; + P = [-0.5000 + 0.1500i + -0.5000 - 0.1500i]; - X = lyap (A, B, -C); + ALPHA = -0.4; + TOL = 1e-8; - X_exp = [-2.7685 0.5498 - -1.0531 0.6865 - 4.5257 -0.4389]; + F = place (A, B, P, ALPHA, TOL); -***** assert (X, X_exp, 1e-4); -***** shared X, X_exp - A = [ 3.0 1.0 1.0 - 1.0 3.0 0.0 - 1.0 0.0 2.0]; + F_exp = - [-0.0876 -4.2138 0.0837 -18.1412 + -0.0233 18.2483 -0.4259 -4.8120]; - E = [ 1.0 3.0 0.0 - 3.0 2.0 1.0 - 1.0 0.0 1.0]; + ev_ol = sort (eig (A)); + ev_cl = sort (eig (A - B*F)); - B = [-64.0 -73.0 -28.0 - -73.0 -70.0 -25.0 - -28.0 -25.0 -18.0]; +***** assert (F, F_exp, 1e-4); +***** assert (ev_ol(3:4), ev_cl(3:4), 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/care.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/care.m +***** shared x, l, g, xe, le, ge + a = [-3 2 + 1 1]; - X = lyap (A.', -B, [], E.'); + b = [ 0 + 1]; - X_exp = [-2.0000 -1.0000 0.0000 - -1.0000 -3.0000 -1.0000 - 0.0000 -1.0000 -3.0000]; + c = [ 1 -1]; -***** assert (X, X_exp, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/sigma.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/sigma.m -***** shared sv_exp, w_exp, sv_obs, w_obs - A = [1, 2; 3, 4]; - B = [5, 6; 7, 8]; - C = [4, 3; 2, 1]; - D = [8, 7; 6, 5]; - w = [2, 3, 4]; - sv_exp = [7.9176, 8.6275, 9.4393; - 0.6985, 0.6086, 0.5195]; - w_exp = [2; 3; 4]; - [sv_obs, w_obs] = sigma (ss (A, B, C, D), w); -***** assert (sv_obs, sv_exp, 1e-4); -***** assert (w_obs, w_exp, 1e-4); + r = 3; + + [x, l, g] = care (a, b, c.'*c, r); + + xe = [ 0.5895 1.8216 + 1.8216 8.8188]; + + le = [-3.5026 + -1.4370]; + + ge = [ 0.6072 2.9396]; + +***** assert (x, xe, 1e-4); +***** assert (l, le, 1e-4); +***** assert (g, ge, 1e-4); +***** shared x, l, g, xe, le, ge + a = [ 0.0 1.0 + 0.0 0.0]; + + b = [ 0.0 + 1.0]; + + c = [ 1.0 0.0 + 0.0 1.0 + 0.0 0.0]; + + d = [ 0.0 + 0.0 + 1.0]; + + [x, l, g] = care (a, b, c.'*c, d.'*d); + + xe = [ 1.7321 1.0000 + 1.0000 1.7321]; + + le = [-0.8660 + 0.5000i + -0.8660 - 0.5000i]; + + ge = [ 1.0000 1.7321]; + +***** assert (x, xe, 1e-4); +***** assert (l, le, 1e-4); +***** assert (g, ge, 1e-4); +***** shared x, xe + a = [ 0.0 1.0 + 0.0 0.0 ]; + + e = [ 1.0 0.0 + 0.0 1.0 ]; + + b = [ 0.0 + 1.0 ]; + + c = [ 1.0 0.0 + 0.0 1.0 + 0.0 0.0 ]; + + d = [ 0.0 + 0.0 + 1.0 ]; + + x = care (a, b, c.'*c, d.'*d, [], e); + + xe = [ 1.7321 1.0000 + 1.0000 1.7321 ]; + +***** assert (x, xe, 1e-4); +7 tests, 7 passed, 0 known failure, 0 skipped +[inst/h2syn.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/h2syn.m +***** shared M, M_exp + A = [-1.0 0.0 4.0 5.0 -3.0 -2.0 + -2.0 4.0 -7.0 -2.0 0.0 3.0 + -6.0 9.0 -5.0 0.0 2.0 -1.0 + -8.0 4.0 7.0 -1.0 -3.0 0.0 + 2.0 5.0 8.0 -9.0 1.0 -4.0 + 3.0 -5.0 8.0 0.0 2.0 -6.0]; + + B = [-3.0 -4.0 -2.0 1.0 0.0 + 2.0 0.0 1.0 -5.0 2.0 + -5.0 -7.0 0.0 7.0 -2.0 + 4.0 -6.0 1.0 1.0 -2.0 + -3.0 9.0 -8.0 0.0 5.0 + 1.0 -2.0 3.0 -6.0 -2.0]; + + C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 + -3.0 0.0 5.0 -1.0 1.0 1.0 + -7.0 5.0 0.0 -8.0 2.0 -2.0 + 9.0 -3.0 4.0 0.0 3.0 7.0 + 0.0 1.0 -2.0 1.0 -6.0 -2.0]; + + D = [ 0.0 0.0 0.0 -4.0 -1.0 + 0.0 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 0.0 1.0 + 3.0 1.0 0.0 1.0 -3.0 + -2.0 0.0 1.0 7.0 1.0]; + + P = ss (A, B, C, D); + K = h2syn (P, 2, 2); + M = [K.A, K.B; K.C, K.D]; + + KA = [ 88.0015 -145.7298 -46.2424 82.2168 -45.2996 -31.1407 + 25.7489 -31.4642 -12.4198 9.4625 -3.5182 2.7056 + 54.3008 -102.4013 -41.4968 50.8412 -20.1286 -26.7191 + 108.1006 -198.0785 -45.4333 70.3962 -25.8591 -37.2741 + -115.8900 226.1843 47.2549 -47.8435 -12.5004 34.7474 + 59.0362 -101.8471 -20.1052 36.7834 -16.1063 -26.4309]; + + KB = [ 3.7345 3.4758 + -0.3020 0.6530 + 3.4735 4.0499 + 4.3198 7.2755 + -3.9424 -10.5942 + 2.1784 2.5048]; + + KC = [ -2.3346 3.2556 0.7150 -0.9724 0.6962 0.4074 + 7.6899 -8.4558 -2.9642 7.0365 -4.2844 0.1390]; + + KD = [ 0.0000 0.0000 + 0.0000 0.0000]; + + M_exp = [KA, KB; KC, KD]; + +***** assert (M, M_exp, 1e-4); +***** shared M, M_exp + A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 + -0.6 0.2 -0.4 -0.3 0.0 0.0 + -0.5 0.7 -0.1 0.0 0.0 -0.8 + -0.7 0.0 0.0 -0.5 -1.0 0.0 + 0.0 0.3 0.6 -0.9 0.1 -0.4 + 0.5 -0.8 0.0 0.0 0.2 -0.9]; + + B = [-1.0 -2.0 -2.0 1.0 0.0 + 1.0 0.0 1.0 -2.0 1.0 + -3.0 -4.0 0.0 2.0 -2.0 + 1.0 -2.0 1.0 0.0 -1.0 + 0.0 1.0 -2.0 0.0 3.0 + 1.0 0.0 3.0 -1.0 -2.0]; + + C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 + -3.0 0.0 1.0 -1.0 1.0 0.0 + 0.0 2.0 0.0 -4.0 0.0 -2.0 + 1.0 -3.0 0.0 0.0 3.0 1.0 + 0.0 1.0 -2.0 1.0 0.0 -2.0]; + + D = [ 1.0 -1.0 -2.0 0.0 0.0 + 0.0 1.0 0.0 1.0 0.0 + 2.0 -1.0 -3.0 0.0 1.0 + 0.0 1.0 0.0 1.0 -1.0 + 0.0 0.0 1.0 2.0 1.0]; + + P = ss (A, B, C, D, 1); # value of sampling time doesn't matter + K = h2syn (P, 2, 2); + M = [K.A, K.B; K.C, K.D]; + + KA = [-0.0551 -2.1891 -0.6607 -0.2532 0.6674 -1.0044 + -1.0379 2.3804 0.5031 0.3960 -0.6605 1.2673 + -0.0876 -2.1320 -0.4701 -1.1461 1.2927 -1.5116 + -0.1358 -2.1237 -0.9560 -0.7144 0.6673 -0.7957 + 0.4900 0.0895 0.2634 -0.2354 0.1623 -0.2663 + 0.1672 -0.4163 0.2871 -0.1983 0.4944 -0.6967]; + + KB = [-0.5985 -0.5464 + 0.5285 0.6087 + -0.7600 -0.4472 + -0.7288 -0.6090 + 0.0532 0.0658 + -0.0663 0.0059]; + + KC = [ 0.2500 -1.0200 -0.3371 -0.2733 0.2747 -0.4444 + 0.0654 0.2095 0.0632 0.2089 -0.1895 0.1834]; + + KD = [-0.2181 -0.2070 + 0.1094 0.1159]; + + M_exp = [KA, KB; KC, KD]; + +***** assert (M, M_exp, 1e-4); 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/reg.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/reg.m +[inst/lqgreg.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqgreg.m ***** test - G = zpk([],[-10 -1 -100], 2000); + G=zpk([], [-10 -1 -100], 2000); sys = ss(G); [n, m] = size(sys.b); [p, ~] = size(sys.c); @@ -3179,45 +3379,210 @@ Bn = [sys.b eye(n)]; sys_noisy = ss(sys.a, Bn, sys.c, sys.d, sys.ts); [est, L1, ~] = kalman(sys_noisy, W, V, N, 1:p, 1:m); - Creg = reg(sys, K, L1); - assert(real(eig(feedback(Creg, sys, 1)))<0); + reg = lqgreg(est,K); + assert(real(eig(feedback(reg, sys, 1))) < 0); Ts = 0.01; - Gz = zpk([],[-0.1 0.05 0.004], 3, Ts); + Gz=zpk([], [-0.1 0.05 0.004], 3, Ts); sysz = ss(Gz); kz = lqr(sysz, Q, R, S); Bn = [sysz.b eye(n)]; sys_noisyz = ss(sysz.a, Bn, sysz.c, sysz.d, sysz.ts); - [estz, L1z, ~] = kalman(sys_noisyz, W, V, N, 1:p, 1:m); - Cz = reg(sysz, kz, L1z); - assert(abs(eig(feedback(Cz,sysz,1)))<1); + [estz, L1, ~] = kalman(sys_noisyz, W, V, N, 1:p, 1:m); + regz = lqgreg(estz, kz); + assert(abs(eig(feedback(regz, sysz, 1))) < 1); 1 test, 1 passed, 0 known failure, 0 skipped -[inst/lqg.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqg.m +[inst/filt.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/filt.m +***** shared num, den, n1, d1, n2, d2, n2e, d2e + num = [0, 3]; + den = [1, 4, 2]; + sys = filt (num, den); + [n1, d1] = filtdata (sys, "vector"); + [n2, d2] = tfdata (sys, "vector"); + n2e = [0, 3, 0]; + d2e = [1, 4, 2]; +***** assert (n1, num, 1e-4); +***** assert (d1, den, 1e-4); +***** assert (n2, n2e, 1e-4); +***** assert (d2, d2e, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/dsort.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/dsort.m +***** shared s_exp, ndx_exp, s_obs, ndx_obs + p = [-0.2410+0.5573i; + -0.2410-0.5573i; + 0.1503; + -0.0972; + -0.2590]; + s_exp = [ -0.2410+0.5573i; + -0.2410-0.5573i; + -0.2590; + 0.1503; + -0.0972]; + ndx_exp = [ 1; + 2; + 5; + 3; + 4]; + [s_obs, ndx_obs] = dsort(p); +***** assert(s_obs, s_exp, 0); +***** assert(ndx_obs, ndx_exp, 0); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/lqgtrack.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqgtrack.m ***** test G = zpk([], [-10 -1 -100], 2000); sys = ss(G); - [A B C D] = ssdata(sys); - Q = eye(3); - QI = 100; - QXU = blkdiag (Q, 1); - QWV = eye(4); - reg = lqg(sys, QXU, QWV); - assert(real(eig(feedback(reg, sys, 1)))<0); - reg=lqg(sys,QXU,QWV,QI); + [n, m] = size(sys.b); + [p, ~] = size(sys.c); + Q = eye(3+p); + R = 1; + S = zeros(3+p,1); + W = eye(3); + V = 1; + N = zeros(3, 1); + K = lqi(sys, Q, R, S); + Bn = [sys.b eye(n)]; + sys_noisy = ss(sys.a, Bn, sys.c, sys.d, sys.ts); + [est, L1, ~] = kalman(sys_noisy, W, V, N, 1:p, 1:m); + reg = lqgtrack(est,K); assert(real(eig(feedback(reg, sys, 2, 1, 1)))<0); -***** test - Ts = 0.1; - Gz = zpk([], [-0.1 0.05 0.004], 3, Ts); + Ts = 0.01; + Gz = zpk([],[-0.1 0.05 0.004], 3, Ts); sysz = ss(Gz); - Q = eye(3); - QI = 100; - QXU = blkdiag (Q, 1); - QWV = eye(4); - regz = lqg(sysz, QXU, QWV); - assert(abs(eig(feedback(regz, sysz, 1)))<1); - regz=lqg(sysz, QXU, QWV, QI); + kz = lqi(sysz, Q, R, S); + Bn = [sysz.b eye(n)]; + sys_noisyz = ss(sysz.a, Bn, sysz.c, sysz.d, sysz.ts); + [estz, L1, ~] = kalman(sys_noisyz, W, V, N, 1:p, 1:m); + regz = lqgtrack(estz,kz); assert(abs(eig(feedback(regz, sysz, 2, 1, 1)))<1); -2 tests, 2 passed, 0 known failure, 0 skipped +1 test, 1 passed, 0 known failure, 0 skipped +[inst/kalman.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/kalman.m +***** test + sys = ss (-2, 1, 1, 3); + [est, g, x] = kalman (sys, 1, 1, 1); + [a, b, c, d] = ssdata (est); + m = [a, b; c, d]; + m_exp = [-2.25, 0.25; 1, 0; 1, 0]; + g_exp = 0.25; + x_exp = 0; + assert (m, m_exp, 1e-2); + assert (g, g_exp, 1e-2); + assert (x, x_exp, 1e-2); +***** shared n, nw, A, B, C, D, Bw, Dw, sys, Q, R, N, Pinf, K + n = 3; + nw = 2; + + A = [1.1269 -0.4940 0.1129 + 1.0000 0 0 + 0 1.0000 0]; + B = [-0.3832 + 0.5919 + 0.5191]; + Bw = rand(n,nw); + B = [B Bw]; + C = [1 0 0]; + D = [1]; + Dw = zeros(1,nw); + D = [D Dw]; + sys = ss(A,B,C,D,1); + Q = eye(nw,nw); + R = 1; + N = []; + PP = eye(3,3); + # asymptotic filter equations + for i = 1:10 + Pinf = A*PP*A' + Bw*Q*Bw'; + K = Pinf*C'*inv(C*Pinf*C'+R); + PP = (eye(3,3)-K*C)*Pinf; + endfor; +***** test + [kalmf,L,P] = kalman(sys,Q,R,N,1,1); + assert (Pinf, P, 4e-4); + assert (inv(A)*L, K, 2e-4); + assert (kalmf.a, A-L*C, 1e-4); +***** test + [kalmfc,Lc,Pc] = kalman(sys,Q,R,N,1,1,'current'); + assert (Pinf, Pc, 4e-4); + assert (inv(A)*Lc, K, 2e-4); + assert (kalmfc.a, A-A*K*C, 1e-4); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/dlyap.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/dlyap.m +***** shared X, X_exp + A = [3.0 1.0 1.0 + 1.0 3.0 0.0 + 0.0 0.0 3.0]; + + B = [25.0 24.0 15.0 + 24.0 32.0 8.0 + 15.0 8.0 40.0]; + + X = dlyap (A.', -B); + + X_exp = [2.0000 1.0000 1.0000 + 1.0000 3.0000 0.0000 + 1.0000 0.0000 4.0000]; + +***** assert (X, X_exp, 1e-4); +***** shared X, X_exp + A = [3.0 1.0 1.0 + 1.0 3.0 0.0 + 0.0 0.0 3.0]; + + B = [1.0 0.2 2.0 + 0.5 0.5 1.0 + 1.0 -2.0 1.0]; + + X = dlyap (A.', -B); + + X_exp = [0.1390 -0.0514 0.1831 + -0.0086 0.0676 0.0422 + 0.2005 -0.3233 -0.0362]; + +***** assert (X, X_exp, 1e-4); +***** shared X, X_exp + A = [1.0 2.0 3.0 + 6.0 7.0 8.0 + 9.0 2.0 3.0]; + + B = [7.0 2.0 3.0 + 2.0 1.0 2.0 + 3.0 4.0 1.0]; + + C = [271.0 135.0 147.0 + 923.0 494.0 482.0 + 578.0 383.0 287.0]; + + X = dlyap (-A, B, C); + + X_exp = [2.0000 3.0000 6.0000 + 4.0000 7.0000 1.0000 + 5.0000 3.0000 2.0000]; + +***** assert (X, X_exp, 1e-4); +***** shared X, X_exp + A = [3.0 1.0 1.0 + 1.0 3.0 0.0 + 1.0 0.0 2.0]; + + E = [1.0 3.0 0.0 + 3.0 2.0 1.0 + 1.0 0.0 1.0]; + + B = [ -3.0 -10.0 7.0 + -10.0 -14.0 -2.0 + 7.0 -2.0 9.0 ]; + + X = dlyap (A, B, [], E); + + X_exp = [-2.0000 -1.0000 0.0000 + -1.0000 -3.0000 -1.0000 + 0.0000 -1.0000 -3.0000]; + +***** assert (X, X_exp, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped [inst/bstmodred.m] >>>>> /build/reproducible-path/octave-control-4.1.3/inst/bstmodred.m ***** shared Mo, Me, Info, HSVe @@ -3305,58 +3670,6 @@ ***** assert (Mo, Me, 1e-4) ***** assert (Info.hsv, HSVe, 1e-4) 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/pzmap.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/pzmap.m -***** demo - z = tf('z',1); - G1z = (z+1)/(z-0.75)/(z^2-1*z+1); - pzmap(G1z); -***** demo - s = tf('s'); - G1 = 1/(2*s^2+3*s+4); - G2 = (1-s)/(1+s)/(s^2+s+1); - pzmap(G1,G2); -***** test - s = tf('s'); - G = (s-1)/(s-2)/(s-3); - [pol zer] = pzmap(G); - assert(sort(pol), [2 3]', 2*eps); - assert(zer, 1, eps); -***** test - s = tf('s'); - g = 1/(2*s^2+3*s+4); - pol = pzmap(g); - assert(sort(pol), sort(roots([2 3 4]')), eps); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/lqgreg.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqgreg.m -***** test - G=zpk([], [-10 -1 -100], 2000); - sys = ss(G); - [n, m] = size(sys.b); - [p, ~] = size(sys.c); - Q = eye(3); - R = 1; - S = zeros(3, 1); - W = eye(3); - V = 1; - N = zeros(3, 1); - K = lqr(sys, Q, R, S); - Bn = [sys.b eye(n)]; - sys_noisy = ss(sys.a, Bn, sys.c, sys.d, sys.ts); - [est, L1, ~] = kalman(sys_noisy, W, V, N, 1:p, 1:m); - reg = lqgreg(est,K); - assert(real(eig(feedback(reg, sys, 1))) < 0); - Ts = 0.01; - Gz=zpk([], [-0.1 0.05 0.004], 3, Ts); - sysz = ss(Gz); - kz = lqr(sysz, Q, R, S); - Bn = [sysz.b eye(n)]; - sys_noisyz = ss(sysz.a, Bn, sysz.c, sysz.d, sysz.ts); - [estz, L1, ~] = kalman(sys_noisyz, W, V, N, 1:p, 1:m); - regz = lqgreg(estz, kz); - assert(abs(eig(feedback(regz, sysz, 1))) < 1); -1 test, 1 passed, 0 known failure, 0 skipped [inst/btamodred.m] >>>>> /build/reproducible-path/octave-control-4.1.3/inst/btamodred.m ***** shared Mo, Me, Info, HSVe @@ -3442,136 +3755,20 @@ ***** assert (Mo, Me, 1e-4); ***** assert (Info.hsv, HSVe, 1e-4); 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/pole.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/pole.m -***** shared pol_exp, pol_obs - A = [-1, 0, 0; - 0, -2, 0; - 0, 0, -3]; - pol_exp = [-3; - -2; - -1]; - pol_obs = pole(A); -***** assert(pol_obs, pol_exp, 0); -***** shared pol, pol_exp, infp, kronr, kronl, infp_exp, kronr_exp, kronl_exp - A = [ 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 1 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 1 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 - 0 0 0 0 0 0 0 0 1 ]; - - E = [ 0 0 0 0 0 0 0 0 0 - 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 ]; - - B = [ -1 0 0 - 0 0 0 - 0 0 0 - 0 -1 0 - 0 0 0 - 0 0 0 - 0 0 -1 - 0 0 0 - 0 0 0 ]; - - C = [ 0 1 1 0 3 4 0 0 2 - 0 1 0 0 4 0 0 2 0 - 0 0 1 0 -1 4 0 -2 2 ]; - - D = [ 1 2 -2 - 0 -1 -2 - 0 0 0 ]; - - sys = dss (A, B, C, D, E, "scaled", true); - [pol, ~, infp, kronr, kronl] = __sl_ag08bd__ (A, E, [], [], [], true); - - pol_exp = zeros (0,1); - - infp_exp = [0, 3]; - kronr_exp = zeros (1,0); - kronl_exp = zeros (1,0); - -***** assert (pol, pol_exp, 1e-4); -***** assert (infp, infp_exp); -***** assert (kronr, kronr_exp); -***** assert (kronl, kronl_exp); -5 tests, 5 passed, 0 known failure, 0 skipped -[inst/imp_invar.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/imp_invar.m -***** shared bz1, az1, bz2, az2, bz1_e, az1_e, bz2_e, az2_e - - s = tf ('s'); - Gs = (s-2)*(s-1)*(s+5)/s/(s+1)/(s+2)^3/(s+3)/(s+4); - [b,a] = tfdata (Gs, 'v'); - [bz1,az1] = imp_invar (Gs, 2); - [bz2,az2] = imp_invar (b, a, 5); - - bz1_e = 1/2*[-0.0000 0.0036 -0.0128 0.0039 0.0125 -0.0001 -0.0001 0.0000]; - az1_e = [ 1.0000 -3.0686 3.7873 -2.4518 0.9020 -0.1886 0.0207 -0.0009]; - - bz2_e = 1/5*[-0.0000 0.0007 -0.0007 -0.0025 0.0032 -0.0004 -0.0001 0.0000]; - az2_e = [ 1.0000 -4.8278 9.8933 -11.1569 7.4787 -2.9798 0.6534 -0.0608]; - -***** assert (az1, az1_e, 1e-4); -***** assert (bz1, bz1_e, 1e-4); -***** assert (az2, az2_e, 1e-4); -***** assert (bz2, bz2_e, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/lsim.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lsim.m +[inst/lqi.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqi.m ***** test - n = 5; - m = 3; - p = 2; - A = diag ([0:-2:-2*(n-1)]); - B = [ (1:1:n)' (-1:1:n-2)' (2:1:n+1)']; - C = [1 0 1 0 0 ; 0 1 0 1 1 ]; - D = zeros (p,m); - - sys = ss(A, B, C, D); - dt = 0.1; - t = 0:dt:1; - x0 = zeros(n,1); - u = [ sin(2*t') cos(3*t') sin(4*t') ]; - [y1, t1] = lsim(sys, u, t, x0); - [y2, t2] = lsim(sys, u', t, x0); - - sysd = c2d (sys, dt, 'foh'); - x0 = x0 - sysd.userdata * u(1,:)'; # foh-doscretization - [y3, t3] = lsim(sysd, u, [], x0); - [y4, t4] = lsim(sysd, u', [], x0); - - assert (y1,y2,1e-4); - assert (y1,y3,1e-4); - assert (y1,y4,1e-4); -***** demo - clf; - A = [-3 0 0; - 0 -2 1; - 10 -17 0]; - B = [4; - 0; - 0]; - C = [0 0 1]; + A = [1 -1; 0 -5]; + B = [0;1]; + C = [1 0]; D = 0; sys = ss(A,B,C,D); - t = 0:0.01:10; - u = zeros (length(t) ,1); - x0 = [0 0.1 0]; - lsim(sys, u, t, x0); + [g, x, l] = lqi(sys,eye(3),1); + assert(l<0,'lqi error') 1 test, 1 passed, 0 known failure, 0 skipped -[inst/h2syn.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/h2syn.m +[inst/hinfsyn.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/hinfsyn.m +***** test ***** shared M, M_exp A = [-1.0 0.0 4.0 5.0 -3.0 -2.0 -2.0 4.0 -7.0 -2.0 0.0 3.0 @@ -3593,39 +3790,40 @@ 9.0 -3.0 4.0 0.0 3.0 7.0 0.0 1.0 -2.0 1.0 -6.0 -2.0]; - D = [ 0.0 0.0 0.0 -4.0 -1.0 - 0.0 0.0 0.0 1.0 0.0 - 0.0 0.0 0.0 0.0 1.0 - 3.0 1.0 0.0 1.0 -3.0 - -2.0 0.0 1.0 7.0 1.0]; + D = [ 1.0 -2.0 -3.0 0.0 0.0 + 0.0 4.0 0.0 1.0 0.0 + 5.0 -3.0 -4.0 0.0 1.0 + 0.0 1.0 0.0 1.0 -3.0 + 0.0 0.0 1.0 7.0 1.0]; P = ss (A, B, C, D); - K = h2syn (P, 2, 2); + K = hinfsyn (P, 2, 2, "method", "sub", "gmax", 15); M = [K.A, K.B; K.C, K.D]; - KA = [ 88.0015 -145.7298 -46.2424 82.2168 -45.2996 -31.1407 - 25.7489 -31.4642 -12.4198 9.4625 -3.5182 2.7056 - 54.3008 -102.4013 -41.4968 50.8412 -20.1286 -26.7191 - 108.1006 -198.0785 -45.4333 70.3962 -25.8591 -37.2741 - -115.8900 226.1843 47.2549 -47.8435 -12.5004 34.7474 - 59.0362 -101.8471 -20.1052 36.7834 -16.1063 -26.4309]; + KA = [ -2.8043 14.7367 4.6658 8.1596 0.0848 2.5290 + 4.6609 3.2756 -3.5754 -2.8941 0.2393 8.2920 + -15.3127 23.5592 -7.1229 2.7599 5.9775 -2.0285 + -22.0691 16.4758 12.5523 -16.3602 4.4300 -3.3168 + 30.6789 -3.9026 -1.3868 26.2357 -8.8267 10.4860 + -5.7429 0.0577 10.8216 -11.2275 1.5074 -10.7244]; - KB = [ 3.7345 3.4758 - -0.3020 0.6530 - 3.4735 4.0499 - 4.3198 7.2755 - -3.9424 -10.5942 - 2.1784 2.5048]; + KB = [ -0.1581 -0.0793 + -0.9237 -0.5718 + 0.7984 0.6627 + 0.1145 0.1496 + -0.6743 -0.2376 + 0.0196 -0.7598]; - KC = [ -2.3346 3.2556 0.7150 -0.9724 0.6962 0.4074 - 7.6899 -8.4558 -2.9642 7.0365 -4.2844 0.1390]; + KC = [ -0.2480 -0.1713 -0.0880 0.1534 0.5016 -0.0730 + 2.8810 -0.3658 1.3007 0.3945 1.2244 2.5690]; - KD = [ 0.0000 0.0000 - 0.0000 0.0000]; + KD = [ 0.0554 0.1334 + -0.3195 0.0333]; M_exp = [KA, KB; KC, KD]; -***** assert (M, M_exp, 1e-4); + assert (M, M_exp, 1e-4); +***** test ***** shared M, M_exp A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 -0.6 0.2 -0.4 -0.3 0.0 0.0 @@ -3654,366 +3852,367 @@ 0.0 0.0 1.0 2.0 1.0]; P = ss (A, B, C, D, 1); # value of sampling time doesn't matter - K = h2syn (P, 2, 2); + K = hinfsyn (P, 2, 2, "method", "sub", "gmax", 111.294); M = [K.A, K.B; K.C, K.D]; - KA = [-0.0551 -2.1891 -0.6607 -0.2532 0.6674 -1.0044 - -1.0379 2.3804 0.5031 0.3960 -0.6605 1.2673 - -0.0876 -2.1320 -0.4701 -1.1461 1.2927 -1.5116 - -0.1358 -2.1237 -0.9560 -0.7144 0.6673 -0.7957 - 0.4900 0.0895 0.2634 -0.2354 0.1623 -0.2663 - 0.1672 -0.4163 0.2871 -0.1983 0.4944 -0.6967]; + KA = [-18.0030 52.0376 26.0831 -0.4271 -40.9022 18.0857 + 18.8203 -57.6244 -29.0938 0.5870 45.3309 -19.8644 + -26.5994 77.9693 39.0368 -1.4020 -60.1129 26.6910 + -21.4163 62.1719 30.7507 -0.9201 -48.6221 21.8351 + -0.8911 4.2787 2.3286 -0.2424 -3.0376 1.2169 + -5.3286 16.1955 8.4824 -0.2489 -12.2348 5.1590]; - KB = [-0.5985 -0.5464 - 0.5285 0.6087 - -0.7600 -0.4472 - -0.7288 -0.6090 - 0.0532 0.0658 - -0.0663 0.0059]; + KB = [ 16.9788 14.1648 + -18.9215 -15.6726 + 25.2046 21.2848 + 20.1122 16.8322 + 1.4104 1.2040 + 5.3181 4.5149]; - KC = [ 0.2500 -1.0200 -0.3371 -0.2733 0.2747 -0.4444 - 0.0654 0.2095 0.0632 0.2089 -0.1895 0.1834]; + KC = [ -9.1941 27.5165 13.7364 -0.3639 -21.5983 9.6025 + 3.6490 -10.6194 -5.2772 0.2432 8.1108 -3.6293]; - KD = [-0.2181 -0.2070 - 0.1094 0.1159]; + KD = [ 9.0317 7.5348 + -3.4006 -2.8219]; M_exp = [KA, KB; KC, KD]; -***** assert (M, M_exp, 1e-4); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/ncfsyn.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/ncfsyn.m -***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe - A = [ -1.0 0.0 4.0 5.0 -3.0 -2.0 - -2.0 4.0 -7.0 -2.0 0.0 3.0 - -6.0 9.0 -5.0 0.0 2.0 -1.0 - -8.0 4.0 7.0 -1.0 -3.0 0.0 - 2.0 5.0 8.0 -9.0 1.0 -4.0 - 3.0 -5.0 8.0 0.0 2.0 -6.0 ]; - - B = [ -3.0 -4.0 - 2.0 0.0 - -5.0 -7.0 - 4.0 -6.0 - -3.0 9.0 - 1.0 -2.0 ]; - - C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 - -3.0 0.0 5.0 -1.0 1.0 1.0 - -7.0 5.0 0.0 -8.0 2.0 -2.0 ]; - - D = [ 1.0 -2.0 - 0.0 4.0 - 5.0 -3.0 ]; - - FACTOR = 1.0; - - [AK, BK, CK, DK, RCOND] = __sl_sb10id__ (A, B, C, D, FACTOR); - - AKe = [ -39.0671 9.9293 22.2322 -27.4113 43.8655 - -6.6117 3.0006 11.0878 -11.4130 15.4269 - 33.6805 -6.6934 -23.9953 14.1438 -33.4358 - -32.3191 9.7316 25.4033 -24.0473 42.0517 - -44.1655 18.7767 34.8873 -42.4369 50.8437 ]; - - BKe = [ -10.2905 -16.5382 -10.9782 - -4.3598 -8.7525 -5.1447 - 6.5962 1.8975 6.2316 - -9.8770 -14.7041 -11.8778 - -9.6726 -22.7309 -18.2692 ]; - - CKe = [ -0.6647 -0.0599 -1.0376 0.5619 1.7297 - -8.4202 3.9573 7.3094 -7.6283 10.6768 ]; - - DKe = [ 0.8466 0.4979 -0.6993 - -1.2226 -4.8689 -4.5056 ]; - - RCONDe = [ 0.13861D-01 0.90541D-02 ].'; - -***** assert (AK, AKe, 1e-4); -***** assert (BK, BKe, 1e-4); -***** assert (CK, CKe, 1e-4); -***** assert (DK, DKe, 1e-4); -***** assert (RCOND, RCONDe, 1e-4); -***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe - A = [ -1.0 0.0 4.0 5.0 -3.0 -2.0 - -2.0 4.0 -7.0 -2.0 0.0 3.0 - -6.0 9.0 -5.0 0.0 2.0 -1.0 - -8.0 4.0 7.0 -1.0 -3.0 0.0 - 2.0 5.0 8.0 -9.0 1.0 -4.0 - 3.0 -5.0 8.0 0.0 2.0 -6.0 ]; - - B = [ -3.0 -4.0 - 2.0 0.0 - -5.0 -7.0 - 4.0 -6.0 - -3.0 9.0 - 1.0 -2.0 ]; - - C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 - -3.0 0.0 5.0 -1.0 1.0 1.0 - -7.0 5.0 0.0 -8.0 2.0 -2.0 ]; - - D = [ 1.0 -2.0 - 0.0 4.0 - 5.0 -3.0 ]; - - FACTOR = 1.0; - - G = ss (A, B, C, D); - K = ncfsyn (G, [], [], FACTOR); - [AK, BK, CK, DK] = ssdata (K); - - AKe = [ -39.0671 9.9293 22.2322 -27.4113 43.8655 - -6.6117 3.0006 11.0878 -11.4130 15.4269 - 33.6805 -6.6934 -23.9953 14.1438 -33.4358 - -32.3191 9.7316 25.4033 -24.0473 42.0517 - -44.1655 18.7767 34.8873 -42.4369 50.8437 ]; - - BKe = [ -10.2905 -16.5382 -10.9782 - -4.3598 -8.7525 -5.1447 - 6.5962 1.8975 6.2316 - -9.8770 -14.7041 -11.8778 - -9.6726 -22.7309 -18.2692 ]; - - CKe = [ -0.6647 -0.0599 -1.0376 0.5619 1.7297 - -8.4202 3.9573 7.3094 -7.6283 10.6768 ]; - - DKe = [ 0.8466 0.4979 -0.6993 - -1.2226 -4.8689 -4.5056 ]; - - RCONDe = [ 0.13861D-01 0.90541D-02 ]; - -***** assert (AK, AKe, 1e-4); -***** assert (BK, BKe, 1e-4); -***** assert (CK, CKe, 1e-4); -***** assert (DK, DKe, 1e-4); -***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe - A = [ 0.2 0.0 0.3 0.0 -0.3 -0.1 - -0.3 0.2 -0.4 -0.3 0.0 0.0 - -0.1 0.1 -0.1 0.0 0.0 -0.3 - 0.1 0.0 0.0 -0.1 -0.1 0.0 - 0.0 0.3 0.6 0.2 0.1 -0.4 - 0.2 -0.4 0.0 0.0 0.2 -0.2 ]; - - B = [ -1.0 -2.0 - 1.0 3.0 - -3.0 -4.0 - 1.0 -2.0 - 0.0 1.0 - 1.0 5.0 ]; - - C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 - -3.0 0.0 1.0 -1.0 1.0 -1.0 ]; - - FACTOR = 1.1; - - [AK, BK, CK, DK, RCOND] = __sl_sb10kd__ (A, B, C, FACTOR); - - AKe = [ 0.0337 0.0222 0.0858 0.1264 -0.1872 0.1547 - 0.4457 0.0668 -0.2255 -0.3204 -0.4548 -0.0691 - -0.2419 -0.2506 -0.0982 -0.1321 -0.0130 -0.0838 - -0.4402 0.3654 -0.0335 -0.2444 0.6366 -0.6469 - -0.3623 0.3854 0.4162 0.4502 0.0065 0.1261 - -0.0121 -0.4377 0.0604 0.2265 -0.3389 0.4542 ]; - - BKe = [ 0.0931 -0.0269 - -0.0872 0.1599 - 0.0956 -0.1469 - -0.1728 0.0129 - 0.2022 -0.1154 - 0.2419 -0.1737 ]; - - CKe = [ -0.3677 0.2188 0.0403 -0.0854 0.3564 -0.3535 - 0.1624 -0.0708 0.0058 0.0606 -0.2163 0.1802 ]; - - DKe = [ -0.0857 -0.0246 - 0.0460 0.0074 ]; - - RCONDe = [ 0.11269D-01 0.17596D-01 0.18225D+00 0.75968D-03 ].'; - -***** assert (AK, AKe, 1e-4); -***** assert (BK, BKe, 1e-4); -***** assert (CK, CKe, 1e-4); -***** assert (DK, DKe, 1e-4); -***** assert (RCOND, RCONDe, 1e-4); -***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe - A = [ 0.2 0.0 0.3 0.0 -0.3 -0.1 - -0.3 0.2 -0.4 -0.3 0.0 0.0 - -0.1 0.1 -0.1 0.0 0.0 -0.3 - 0.1 0.0 0.0 -0.1 -0.1 0.0 - 0.0 0.3 0.6 0.2 0.1 -0.4 - 0.2 -0.4 0.0 0.0 0.2 -0.2 ]; - - B = [ -1.0 -2.0 - 1.0 3.0 - -3.0 -4.0 - 1.0 -2.0 - 0.0 1.0 - 1.0 5.0 ]; - - C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 - -3.0 0.0 1.0 -1.0 1.0 -1.0 ]; - - FACTOR = 1.1; - - G = ss (A, B, C, [], 1); # value of sampling time doesn't matter - K = ncfsyn (G, [], [], FACTOR); - [AK, BK, CK, DK] = ssdata (K); - - AKe = [ 0.0337 0.0222 0.0858 0.1264 -0.1872 0.1547 - 0.4457 0.0668 -0.2255 -0.3204 -0.4548 -0.0691 - -0.2419 -0.2506 -0.0982 -0.1321 -0.0130 -0.0838 - -0.4402 0.3654 -0.0335 -0.2444 0.6366 -0.6469 - -0.3623 0.3854 0.4162 0.4502 0.0065 0.1261 - -0.0121 -0.4377 0.0604 0.2265 -0.3389 0.4542 ]; + assert (M, M_exp, 1e-4); +***** test +***** shared M, M_exp, GAM_exp, GAM + A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 + -0.6 0.2 -0.4 -0.3 0.0 0.0 + -0.5 0.7 -0.1 0.0 0.0 -0.8 + -0.7 0.0 0.0 -0.5 -1.0 0.0 + 0.0 0.3 0.6 -0.9 0.1 -0.4 + 0.5 -0.8 0.0 0.0 0.2 -0.9]; - BKe = [ 0.0931 -0.0269 - -0.0872 0.1599 - 0.0956 -0.1469 - -0.1728 0.0129 - 0.2022 -0.1154 - 0.2419 -0.1737 ]; + B = [-1.0 -2.0 -2.0 1.0 0.0 + 1.0 0.0 1.0 -2.0 1.0 + -3.0 -4.0 0.0 2.0 -2.0 + 1.0 -2.0 1.0 0.0 -1.0 + 0.0 1.0 -2.0 0.0 3.0 + 1.0 0.0 3.0 -1.0 -2.0]; - CKe = [ -0.3677 0.2188 0.0403 -0.0854 0.3564 -0.3535 - 0.1624 -0.0708 0.0058 0.0606 -0.2163 0.1802 ]; + C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 + -3.0 0.0 1.0 -1.0 1.0 0.0 + 0.0 2.0 0.0 -4.0 0.0 -2.0 + 1.0 -3.0 0.0 0.0 3.0 1.0 + 0.0 1.0 -2.0 1.0 0.0 -2.0]; - DKe = [ -0.0857 -0.0246 - 0.0460 0.0074 ]; + D = [ 1.0 -1.0 -2.0 0.0 0.0 + 0.0 1.0 0.0 1.0 0.0 + 2.0 -1.0 -3.0 0.0 1.0 + 0.0 1.0 0.0 1.0 -1.0 + 0.0 0.0 1.0 2.0 1.0]; - RCONDe = [ 0.11269D-01 0.17596D-01 0.18225D+00 0.75968D-03 ].'; + P = ss (A, B, C, D, 1); + [K, ~, GAM] = hinfsyn (P, 2, 2, "gmax", 1000, "tolgam", 1e-4); + M = [K.A, K.B; K.C, K.D]; -***** assert (AK, AKe, 1e-4); -***** assert (BK, BKe, 1e-4); -***** assert (CK, CKe, 1e-4); -***** assert (DK, DKe, 1e-4); -***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe - A = [ 0.2 0.0 3.0 0.0 -0.3 -0.1 - -3.0 0.2 -0.4 -0.3 0.0 0.0 - -0.1 0.1 -1.0 0.0 0.0 -3.0 - 1.0 0.0 0.0 -1.0 -1.0 0.0 - 0.0 0.3 0.6 2.0 0.1 -0.4 - 0.2 -4.0 0.0 0.0 0.2 -2.0 ]; + KA = [-18.0030 52.0376 26.0831 -0.4271 -40.9022 18.0857 + 18.8203 -57.6244 -29.0938 0.5870 45.3309 -19.8644 + -26.5994 77.9693 39.0368 -1.4020 -60.1129 26.6910 + -21.4163 62.1719 30.7507 -0.9201 -48.6221 21.8351 + -0.8911 4.2787 2.3286 -0.2424 -3.0376 1.2169 + -5.3286 16.1955 8.4824 -0.2489 -12.2348 5.1590]; - B = [ -1.0 -2.0 - 1.0 3.0 - -3.0 -4.0 - 1.0 -2.0 - 0.0 1.0 - 1.0 5.0 ]; + KB = [ 16.9788 14.1648 + -18.9215 -15.6726 + 25.2046 21.2848 + 20.1122 16.8322 + 1.4104 1.2040 + 5.3181 4.5149]; - C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 - -3.0 0.0 1.0 -1.0 1.0 -1.0 - 2.0 4.0 -3.0 0.0 5.0 1.0 ]; + KC = [ -9.1941 27.5165 13.7364 -0.3639 -21.5983 9.6025 + 3.6490 -10.6194 -5.2772 0.2432 8.1108 -3.6293]; - D = [ 10.0 -6.0 - -7.0 8.0 - 2.0 -4.0 ]; + KD = [ 9.0317 7.5348 + -3.4006 -2.8219]; - FACTOR = 1.1; + M_exp = [KA, KB; KC, KD]; + GAM_exp = 111.294; - [AK, BK, CK, DK, RCOND] = __sl_sb10zd__ (A, B, C, D, FACTOR, 0.0); + assert (M, M_exp, 1e-1); + assert (GAM, GAM_exp, 1e-3); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/ctrbf.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/ctrbf.m +***** shared Ao, Bo, Co, Zo, Ae, Be, Ce, Ze, NCONT + A = [ -1.0 0.0 0.0 + -2.0 -2.0 -2.0 + -1.0 0.0 -3.0 ]; - AKe = [ 1.0128 0.5101 -0.1546 1.1300 3.3759 0.4911 - -2.1257 -1.4517 -0.4486 0.3493 -1.5506 -1.4296 - -1.0930 -0.6026 -0.1344 0.2253 -1.5625 -0.6762 - 0.3207 0.1698 0.2376 -1.1781 -0.8705 0.2896 - 0.5017 0.9006 0.0668 2.3613 0.2049 0.3703 - 1.0787 0.6703 0.2783 -0.7213 0.4918 0.7435 ]; + B = [ 1.0 0.0 0.0 + 0.0 2.0 1.0 ].'; - BKe = [ 0.4132 0.3112 -0.8077 - 0.2140 0.4253 0.1811 - -0.0710 0.0807 0.3558 - -0.0121 -0.2019 0.0249 - 0.1047 0.1399 -0.0457 - -0.2542 -0.3472 0.0523 ]; + C = [ 0.0 2.0 1.0 + 1.0 0.0 0.0 ]; - CKe = [ -0.0372 -0.0456 -0.0040 0.0962 -0.2059 -0.0571 - 0.1999 0.2994 0.1335 -0.0251 -0.3108 0.2048 ]; + [Ao, Bo, Co, Zo, NCONT] = ctrbf (A, B, C); - DKe = [ 0.0629 -0.0022 0.0363 - -0.0228 0.0195 0.0600 ]; + Ae = [ -3.0000 2.2361 + 0.0000 -1.0000 ]; - RCONDe = [ 0.27949D-03 0.66679D-03 0.45677D-01 0.23433D-07 0.68495D-01 0.76854D-01 ].'; + Be = [ 0.0000 -2.2361 + 1.0000 0.0000 ]; -***** assert (AK, AKe, 1e-4); -***** assert (BK, BKe, 1e-4); -***** assert (CK, CKe, 1e-4); -***** assert (DK, DKe, 1e-4); -***** assert (RCOND, RCONDe, 1e-4); -***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe - A = [ 0.2 0.0 3.0 0.0 -0.3 -0.1 - -3.0 0.2 -0.4 -0.3 0.0 0.0 - -0.1 0.1 -1.0 0.0 0.0 -3.0 - 1.0 0.0 0.0 -1.0 -1.0 0.0 - 0.0 0.3 0.6 2.0 0.1 -0.4 - 0.2 -4.0 0.0 0.0 0.2 -2.0 ]; + Ce = [ -2.2361 0.0000 + 0.0000 1.0000 ]; - B = [ -1.0 -2.0 - 1.0 3.0 - -3.0 -4.0 - 1.0 -2.0 - 0.0 1.0 - 1.0 5.0 ]; + Ze = [ 0.0000 1.0000 0.0000 + -0.8944 0.0000 -0.4472 + -0.4472 0.0000 0.8944 ]; - C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 - -3.0 0.0 1.0 -1.0 1.0 -1.0 - 2.0 4.0 -3.0 0.0 5.0 1.0 ]; +***** assert (Ao(1:NCONT, 1:NCONT), Ae, 1e-4); +***** assert (Bo(1:NCONT, :), Be, 1e-4); +***** assert (Co(:, 1:NCONT), Ce, 1e-4); +***** assert (Zo, Ze, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/lsim.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lsim.m +***** test + n = 5; + m = 3; + p = 2; + A = diag ([0:-2:-2*(n-1)]); + B = [ (1:1:n)' (-1:1:n-2)' (2:1:n+1)']; + C = [1 0 1 0 0 ; 0 1 0 1 1 ]; + D = zeros (p,m); - D = [ 10.0 -6.0 - -7.0 8.0 - 2.0 -4.0 ]; + sys = ss(A, B, C, D); + dt = 0.1; + t = 0:dt:1; + x0 = zeros(n,1); + u = [ sin(2*t') cos(3*t') sin(4*t') ]; + [y1, t1] = lsim(sys, u, t, x0); + [y2, t2] = lsim(sys, u', t, x0); - FACTOR = 1.1; + sysd = c2d (sys, dt, 'foh'); + x0 = x0 - sysd.userdata * u(1,:)'; # foh-doscretization + [y3, t3] = lsim(sysd, u, [], x0); + [y4, t4] = lsim(sysd, u', [], x0); - G = ss (A, B, C, D, 1); # value of sampling time doesn't matter - K = ncfsyn (G, [], [], FACTOR); - [AK, BK, CK, DK] = ssdata (K); + assert (y1,y2,1e-4); + assert (y1,y3,1e-4); + assert (y1,y4,1e-4); +***** demo + clf; + A = [-3 0 0; + 0 -2 1; + 10 -17 0]; + B = [4; + 0; + 0]; + C = [0 0 1]; + D = 0; + sys = ss(A,B,C,D); + t = 0:0.01:10; + u = zeros (length(t) ,1); + x0 = [0 0.1 0]; + lsim(sys, u, t, x0); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/margin.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/margin.m +***** shared margin_c, margin_c_exp, margin_d, margin_d_exp + sysc = tf ([24], [1, 6, 11, 6]); + [gamma_c, phi_c, w_gamma_c, w_phi_c] = margin (sysc); + sysd = c2d (sysc, 0.3); + [gamma_d, phi_d, w_gamma_d, w_phi_d] = margin (sysd); - AKe = [ 1.0128 0.5101 -0.1546 1.1300 3.3759 0.4911 - -2.1257 -1.4517 -0.4486 0.3493 -1.5506 -1.4296 - -1.0930 -0.6026 -0.1344 0.2253 -1.5625 -0.6762 - 0.3207 0.1698 0.2376 -1.1781 -0.8705 0.2896 - 0.5017 0.9006 0.0668 2.3613 0.2049 0.3703 - 1.0787 0.6703 0.2783 -0.7213 0.4918 0.7435 ]; + margin_c = [gamma_c, phi_c, w_gamma_c, w_phi_c]; + margin_d = [gamma_d, phi_d, w_gamma_d, w_phi_d]; - BKe = [ 0.4132 0.3112 -0.8077 - 0.2140 0.4253 0.1811 - -0.0710 0.0807 0.3558 - -0.0121 -0.2019 0.0249 - 0.1047 0.1399 -0.0457 - -0.2542 -0.3472 0.0523 ]; + ## results from this implementation and the "dark side" diverge + ## from the third digit after the decimal point on - CKe = [ -0.0372 -0.0456 -0.0040 0.0962 -0.2059 -0.0571 - 0.1999 0.2994 0.1335 -0.0251 -0.3108 0.2048 ]; + gamma_c_exp = 2.50; + phi_c_exp = 35.43; + w_gamma_c_exp = 3.32; + w_phi_c_exp = 2.06; - DKe = [ 0.0629 -0.0022 0.0363 - -0.0228 0.0195 0.0600 ]; + gamma_d_exp = 1.41; + phi_d_exp = 18.60; + w_gamma_d_exp = 2.48; + w_phi_d_exp = 2.04; - RCONDe = [ 0.27949D-03 0.66679D-03 0.45677D-01 0.23433D-07 0.68495D-01 0.76854D-01 ].'; + margin_c_exp = [gamma_c_exp, phi_c_exp, w_gamma_c_exp, w_phi_c_exp]; + margin_d_exp = [gamma_d_exp, phi_d_exp, w_gamma_d_exp, w_phi_d_exp]; -***** assert (AK, AKe, 1e-4); -***** assert (BK, BKe, 1e-4); -***** assert (CK, CKe, 1e-4); -***** assert (DK, DKe, 1e-4); -27 tests, 27 passed, 0 known failure, 0 skipped -[inst/thiran.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/thiran.m -***** shared num, den, expc - expc = [1, 0.5294, -0.04813, 0.004159]; - sys = thiran (2.4, 1); - [num, den] = tfdata (sys, "vector"); -***** assert (den, expc, 1e-4); -***** assert (num, fliplr (expc), 1e-4); -***** shared num, den - sys = thiran (0.5, 0.1); - [num, den] = tfdata (sys, "vector"); -***** assert (den, [1, 0, 0, 0, 0, 0], eps); -***** assert (num, [0, 0, 0, 0, 0, 1], eps); -***** error (thiran (-1, 1)); -***** error (thiran (1, -1)); -***** error (thiran ([1 2 3], 1)); -7 tests, 7 passed, 0 known failure, 0 skipped +***** assert (margin_c, margin_c_exp, 1e-2); +***** assert (margin_d, margin_d_exp, 1e-2); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/impulse.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/impulse.m +***** test + t=0:1:4; + sys=tf(1,[1 2 2 1]); + y=impulse(sys,t); + assert (y(1), 0, eps); + assert (y(2), 0.241686482894434, 2*eps); + assert (y(3), 0.404040547757057, 2*eps); + assert (y(4), 0.307384479794317, 2*eps); + assert (y(5), 0.121908527560869, 6*eps); # error propagation +***** test + t=0:1:4; + sys=tf(1,[1 2 2 1]); + sys2=c2d(sys, 1, "impulse"); + y=impulse(sys2,t); + assert (y(1), 0, eps); + assert (y(2), 0.241686482894434, 4*eps); + assert (y(3), 0.404040547757057, 6*eps); + assert (y(4), 0.307384479794317, 8*eps); + assert (y(5), 0.121908527560869, 10*eps); # error propagation +***** test + s = tf("s"); + R = 1/s; + y= impulse(R); + assert (y(1), 1, eps); +***** demo + clf; + s = tf('s'); + g = 1/(2*s^2+3*s+4); + impulse(g); + title ("Impulse response of a PT2 transfer function"); +***** demo + clf; + s = tf('s'); + g = 1/(2*s^2+3*s+4); + h = c2d(g,0.1); + impulse(h); + title ("Impulse response of a discretized PT2 transfer function"); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/gram.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/gram.m +***** test + a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; + b = [1 0; 0 -1; 0 1]; + c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is + Wc = gram (ss (a, b, c), "c"); + assert (a * Wc + Wc * a.' + b * b.', zeros (size (a))) +***** test + a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; + b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is + c = [0 0 1; 1 1 0]; + Wo = gram (ss (a, b, c), "o"); + assert (a.' * Wo + Wo * a + c.' * c, zeros (size (a))) +***** test + a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; + b = [1 0; 0 -1; 0 1]; + Wc = gram (a, b); + assert (a * Wc + Wc * a.' + b * b.', zeros (size (a))) +***** test + a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2; + b = [1 0; 0 -1; 0 1]; + c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is + d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is + Ts = 0.1; ## Ts != 0 + Wc = gram (ss (a, b, c, d, Ts), "c"); + assert (a * Wc * a.' - Wc + b * b.', zeros (size (a)), 1e-12) +***** test + a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2; + b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is + c = [0 0 1; 1 1 0]; + d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is + Ts = 0.1; ## Ts != 0 + Wo = gram (ss (a, b, c, d, Ts), "o"); + assert (a.' * Wo * a - Wo + c.' * c, zeros (size (a)), 1e-12) +5 tests, 5 passed, 0 known failure, 0 skipped +[inst/fitfrd.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/fitfrd.m +***** shared Yo, Ye + SYS = ss (-1, 1, 1, 0); + T = 0:0.1:50; + Ye = step (SYS, T); + W = logspace (-2, 2, 100); + FR = frd (SYS, W); + N = 1; + SYSID = fitfrd (FR, N, 1); + Yo = step (SYSID, T); +***** assert (Yo, Ye, 1e-2); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/issample.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/issample.m +***** assert (issample (1)) +***** assert (issample (pi)) +***** assert (issample (0), false) +***** assert (issample (-1), false) +***** assert (issample (-1, 1), false) +***** assert (issample ("a"), false) +***** assert (issample (eye (2)), false) +***** assert (issample (2+2i), false) +***** assert (issample (1, 0)) +***** assert (issample (0, 0)) +***** assert (issample (-1, 0), false) +***** assert (issample (pi, 0)) +***** assert (issample ("b", 0), false) +***** assert (issample (rand (3,2), 0), false) +***** assert (issample (2+2i, 0), false) +***** assert (issample (0+2i, 0), false) +***** assert (issample (-1, -1)) +***** assert (issample (0, -1), false) +***** assert (issample (1, -1)) +***** assert (issample (pi, -1)) +***** assert (issample (-pi, -1), false) +***** assert (issample ("b", -1), false) +***** assert (issample (rand (3,2), -1), false) +***** assert (issample (-2+2i, -1), false) +***** error (issample (-1, "ab")) +***** error (issample ()) +***** error (issample (-1, -1, -1)) +***** error (issample (1, pi)) +***** error (issample (5, rand (2,3))) +***** error (issample (0, 1+2i)) +30 tests, 30 passed, 0 known failure, 0 skipped +[inst/lqg.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqg.m +***** test + G = zpk([], [-10 -1 -100], 2000); + sys = ss(G); + [A B C D] = ssdata(sys); + Q = eye(3); + QI = 100; + QXU = blkdiag (Q, 1); + QWV = eye(4); + reg = lqg(sys, QXU, QWV); + assert(real(eig(feedback(reg, sys, 1)))<0); + reg=lqg(sys,QXU,QWV,QI); + assert(real(eig(feedback(reg, sys, 2, 1, 1)))<0); +***** test + Ts = 0.1; + Gz = zpk([], [-0.1 0.05 0.004], 3, Ts); + sysz = ss(Gz); + Q = eye(3); + QI = 100; + QXU = blkdiag (Q, 1); + QWV = eye(4); + regz = lqg(sysz, QXU, QWV); + assert(abs(eig(feedback(regz, sysz, 1)))<1); + regz=lqg(sysz, QXU, QWV, QI); + assert(abs(eig(feedback(regz, sysz, 2, 1, 1)))<1); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/@ss/ss2ss.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@ss/ss2ss.m +***** test + A = [1 2 3; 4 5 6; 7 8 9]; + B = [1; 2; 3]; + C = [-1 0 1]; + D = 0; + + [T E] = eig(A); + + original_system = ss(A,B,C,D); + transformed_system = ss2ss(original_system,T); + assert(transformed_system.a, [0.5755 2.006 -0.8179; 6.684 13.62 -2.585; -4.476 -7.826 0.8073],e-14); + assert(transformed_system.b, [-0.5789; -3.148; 1.631],e-14); + assert(transformed_system.c, [0.8912 -0.2231 1.112],e-14); + assert(transformed_system.d, 0); + retransformed_system = ss2ss(transformed_system,inv(T)); + assert(original_system.a,retransformed_system.a,e-14); + assert(original_system.b,retransformed_system.b,e-14); + assert(original_system.c,retransformed_system.c,e-14); + assert(original_system.d,retransformed_system.d,e-14); +1 test, 1 passed, 0 known failure, 0 skipped [inst/@ss/ss.m] >>>>> /build/reproducible-path/octave-control-4.1.3/inst/@ss/ss.m ***** test @@ -4046,4815 +4245,807 @@ assert (M, Me, 1e-6); 1 test, 1 passed, 0 known failure, 0 skipped -[inst/@ss/ss2ss.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@ss/ss2ss.m -***** test - A = [1 2 3; 4 5 6; 7 8 9]; - B = [1; 2; 3]; - C = [-1 0 1]; - D = 0; - - [T E] = eig(A); - - original_system = ss(A,B,C,D); - transformed_system = ss2ss(original_system,T); - assert(transformed_system.a, [0.5755 2.006 -0.8179; 6.684 13.62 -2.585; -4.476 -7.826 0.8073],e-14); - assert(transformed_system.b, [-0.5789; -3.148; 1.631],e-14); - assert(transformed_system.c, [0.8912 -0.2231 1.112],e-14); - assert(transformed_system.d, 0); - retransformed_system = ss2ss(transformed_system,inv(T)); - assert(original_system.a,retransformed_system.a,e-14); - assert(original_system.b,retransformed_system.b,e-14); - assert(original_system.c,retransformed_system.c,e-14); - assert(original_system.d,retransformed_system.d,e-14); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/fitfrd.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/fitfrd.m -***** shared Yo, Ye - SYS = ss (-1, 1, 1, 0); - T = 0:0.1:50; - Ye = step (SYS, T); - W = logspace (-2, 2, 100); - FR = frd (SYS, W); - N = 1; - SYSID = fitfrd (FR, N, 1); - Yo = step (SYSID, T); -***** assert (Yo, Ye, 1e-2); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/dlyap.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/dlyap.m -***** shared X, X_exp - A = [3.0 1.0 1.0 - 1.0 3.0 0.0 - 0.0 0.0 3.0]; - - B = [25.0 24.0 15.0 - 24.0 32.0 8.0 - 15.0 8.0 40.0]; - - X = dlyap (A.', -B); - - X_exp = [2.0000 1.0000 1.0000 - 1.0000 3.0000 0.0000 - 1.0000 0.0000 4.0000]; - -***** assert (X, X_exp, 1e-4); -***** shared X, X_exp - A = [3.0 1.0 1.0 - 1.0 3.0 0.0 - 0.0 0.0 3.0]; - - B = [1.0 0.2 2.0 - 0.5 0.5 1.0 - 1.0 -2.0 1.0]; - - X = dlyap (A.', -B); - - X_exp = [0.1390 -0.0514 0.1831 - -0.0086 0.0676 0.0422 - 0.2005 -0.3233 -0.0362]; - -***** assert (X, X_exp, 1e-4); -***** shared X, X_exp - A = [1.0 2.0 3.0 - 6.0 7.0 8.0 - 9.0 2.0 3.0]; - - B = [7.0 2.0 3.0 - 2.0 1.0 2.0 - 3.0 4.0 1.0]; - - C = [271.0 135.0 147.0 - 923.0 494.0 482.0 - 578.0 383.0 287.0]; - - X = dlyap (-A, B, C); - - X_exp = [2.0000 3.0000 6.0000 - 4.0000 7.0000 1.0000 - 5.0000 3.0000 2.0000]; - -***** assert (X, X_exp, 1e-4); -***** shared X, X_exp - A = [3.0 1.0 1.0 - 1.0 3.0 0.0 - 1.0 0.0 2.0]; - - E = [1.0 3.0 0.0 - 3.0 2.0 1.0 - 1.0 0.0 1.0]; - - B = [ -3.0 -10.0 7.0 - -10.0 -14.0 -2.0 - 7.0 -2.0 9.0 ]; - - X = dlyap (A, B, [], E); - - X_exp = [-2.0000 -1.0000 0.0000 - -1.0000 -3.0000 -1.0000 - 0.0000 -1.0000 -3.0000]; - -***** assert (X, X_exp, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/@lti/zpkdata.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/zpkdata.m -***** test - ze = {[1];[-2 ; 0]}; - pe = {[-1 ; 0];[-4 ; -3 ; -1]}; - ke = [ 5 ; 10 ]; - sys = zpk (ze, pe, ke); - [zo, po, ko] = zpkdata (sys); - assert (zo, ze, 1e-4); - assert (po, pe, 1e-4); - assert (ko, ke, 1e-4); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@lti/d2c.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/d2c.m -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin")); - - Mo = [Ao, Bo; Co, Do]; - Me = [A, B; C, D]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh")); - - Mo = [Ao, Bo; Co, Do]; - Me = [A, B; C, D]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000)); - - Mo = [Ao, Bo; Co, Do]; - Me = [A, B; C, D]; - -***** assert (Mo, Me, 1e-4); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/@lti/horzcat.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/horzcat.m -***** shared M, Me - A1 = [ 1.0 0.0 -1.0 - 0.0 -1.0 1.0 - 1.0 1.0 2.0 ]; - - B1 = [ 1.0 1.0 0.0 - 2.0 0.0 1.0 ].'; - - C1 = [ 3.0 -2.0 1.0 - 0.0 1.0 0.0 ]; - - D1 = [ 1.0 0.0 - 0.0 1.0 ]; - - A2 = [-3.0 0.0 0.0 - 1.0 0.0 1.0 - 0.0 -1.0 2.0 ]; - - B2 = [ 0.0 -1.0 0.0 - 1.0 0.0 2.0 ].'; - - C2 = [ 1.0 1.0 0.0 - 1.0 1.0 -1.0 ]; - - D2 = [ 1.0 1.0 - 0.0 1.0 ]; - - sys1 = ss (A1, B1, C1, D1); - sys2 = ss (A2, B2, C2, D2); - sys = [sys1, sys2]; - [A, B, C, D] = ssdata (sys); - M = [A, B; C, D]; - - Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 - 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 - 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000 - 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ]; - - Be = [ 1.0000 2.0000 0.0000 0.0000 - 1.0000 0.0000 0.0000 0.0000 - 0.0000 1.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 1.0000 - 0.0000 0.0000 -1.0000 0.0000 - 0.0000 0.0000 0.0000 2.0000 ]; - - Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000 - 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; - - De = [ 1.0000 0.0000 1.0000 1.0000 - 0.0000 1.0000 0.0000 1.0000 ]; - - Me = [Ae, Be; Ce, De]; - -***** assert (M, Me, 1e-4); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@lti/pole.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/pole.m -***** shared pol_exp, pol_obs - A = [-1, 0, 0; - 0, -2, 0; - 0, 0, -3]; - pol_exp = [-3; - -2; - -1]; - pol_obs = pole (ss (A, ones (3, 1))); - -***** assert(pol_obs, pol_exp, 0); -***** shared pol, pol_exp, infp, kronr, kronl, infp_exp, kronr_exp, kronl_exp - A = [ 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 1 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 1 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 - 0 0 0 0 0 0 0 0 1 ]; - - E = [ 0 0 0 0 0 0 0 0 0 - 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 ]; - - B = [ -1 0 0 - 0 0 0 - 0 0 0 - 0 -1 0 - 0 0 0 - 0 0 0 - 0 0 -1 - 0 0 0 - 0 0 0 ]; - - C = [ 0 1 1 0 3 4 0 0 2 - 0 1 0 0 4 0 0 2 0 - 0 0 1 0 -1 4 0 -2 2 ]; - - D = [ 1 2 -2 - 0 -1 -2 - 0 0 0 ]; - - sys = dss (A, B, C, D, E, "scaled", true); - [pol, ~, infp, kronr, kronl] = __sl_ag08bd__ (A, E, [], [], [], true); - - pol_exp = zeros (0,1); - - infp_exp = [0, 3]; - kronr_exp = zeros (1,0); - kronl_exp = zeros (1,0); - -***** assert (pol, pol_exp, 1e-4); -***** assert (infp, infp_exp); -***** assert (kronr, kronr_exp); -***** assert (kronl, kronl_exp); -5 tests, 5 passed, 0 known failure, 0 skipped -[inst/@lti/feedback.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/feedback.m -***** shared M, Me - A1 = [ 1.0 0.0 -1.0 - 0.0 -1.0 1.0 - 1.0 1.0 2.0 ]; - - B1 = [ 1.0 1.0 0.0 - 2.0 0.0 1.0 ].'; - - C1 = [ 3.0 -2.0 1.0 - 0.0 1.0 0.0 ]; - - D1 = [ 1.0 0.0 - 0.0 1.0 ]; - - A2 = [-3.0 0.0 0.0 - 1.0 0.0 1.0 - 0.0 -1.0 2.0 ]; - - B2 = [ 0.0 -1.0 0.0 - 1.0 0.0 2.0 ].'; - - C2 = [ 1.0 1.0 0.0 - 1.0 1.0 -1.0 ]; - - D2 = [ 1.0 1.0 - 0.0 1.0 ]; - - sys1 = ss (A1, B1, C1, D1); - sys2 = ss (A2, B2, C2, D2); - sys = feedback (sys1, sys2); - [A, B, C, D] = ssdata (sys); - M = [A, B; C, D]; - - Ae = [-0.5000 -0.2500 -1.5000 -1.2500 -1.2500 0.7500 - -1.5000 -0.2500 0.5000 -0.2500 -0.2500 -0.2500 - 1.0000 0.5000 2.0000 -0.5000 -0.5000 0.5000 - 0.0000 0.5000 0.0000 -3.5000 -0.5000 0.5000 - -1.5000 1.2500 -0.5000 1.2500 0.2500 1.2500 - 0.0000 1.0000 0.0000 -1.0000 -2.0000 3.0000 ]; - - Be = [ 0.5000 0.7500 - 0.5000 -0.2500 - 0.0000 0.5000 - 0.0000 0.5000 - -0.5000 0.2500 - 0.0000 1.0000 ]; - - Ce = [ 1.5000 -1.2500 0.5000 -0.2500 -0.2500 -0.2500 - 0.0000 0.5000 0.0000 -0.5000 -0.5000 0.5000 ]; - - De = [ 0.5000 -0.2500 - 0.0000 0.5000 ]; - - Me = [Ae, Be; Ce, De]; - -***** assert (M, Me, 1e-4); -***** shared S1, S2 - P = ss (-2, 3, 4, 5); # meaningless numbers - C = ss (-1, 1, 1, 0); # ditto - L = P * C; - I = eye (size (L)); - S1 = feedback (I, L); - S2 = inv (I + L); -***** assert (S1.a, S2.a, 1e-4); -***** assert (S1.b, S2.b, 1e-4); -***** assert (S1.c, S2.c, 1e-4); -***** assert (S1.d, S2.d, 1e-4); -5 tests, 5 passed, 0 known failure, 0 skipped -[inst/@lti/d2d.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/d2d.m -***** shared num, den, z, p, k - H1 = zpk (0.7, 0.5, 1, 0.1); - H2 = d2d (H1, 0.05); - H3 = d2d (H2, 0.1); - [num, den] = tfdata (H2, "vector"); - [z, p, k] = zpkdata (H3, "vector"); -***** assert (num, [1.00000 -0.82426], 1e-4); -***** assert (den, [1.00000 -0.70711], 1e-4); -***** assert (z, 0.7, 1e-4); -***** assert (p, 0.5, 1e-4); -***** assert (k, 1.0, 1e-4); -5 tests, 5 passed, 0 known failure, 0 skipped -[inst/@lti/dcgain.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/dcgain.m -***** assert( dcgain( tf(1,[1,1]) ) , 1 ) -***** assert( dcgain( tf(2,[1,1]) ) , 2 ) -***** assert( dcgain( ss([0,1;-2,-3],[0;1],[1,0],0) ) , 0.5 ) -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/@lti/subsref.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/subsref.m -***** shared a - s = tf ("s"); - G = (s+2)*s*5/(s+1)/(s^2+s+1); - a = G(1,1).num{1,1}(2:3); -***** assert (a, [5 10], 1e-4); -***** shared a, b - G = tf ({[1 1],[2];[1 1 1],[1 2]},{[1 1 1],[1 2 1];[1 2 1],[1 0]}); - a = G(1,2).num{1,1}; - b = G(2,2).den{1,1}; -***** assert (a, [0 0 2], 1e-4); -***** assert (b, [1 0], 1e-4); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/@lti/c2d.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/c2d.m -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ].'; - - B = [ 0.0 -1.0 - 1.0 0.0 ].'; - - C = [ -1.0 0.0 - 0.0 1.0 ].'; - - D = [ 1.0 0.0 - 0.0 -1.0 ].'; - - [Ao, Bo, Co, Do] = __sl_ab04md__ (A, B, C, D, 1.0, 1.0, false); - - Ae = [ -1.0000 -4.0000 - -4.0000 -1.0000 ]; - - Be = [ 2.8284 0.0000 - 0.0000 -2.8284 ]; - - Ce = [ 0.0000 2.8284 - -2.8284 0.0000 ]; - - De = [ -1.0000 0.0000 - 0.0000 -3.0000 ]; - - Mo = [Ao, Bo; Co, Do]; - Me = [Ae, Be; Ce, De]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ].'; - - B = [ 0.0 -1.0 - 1.0 0.0 ].'; - - C = [ -1.0 0.0 - 0.0 1.0 ].'; - - D = [ 1.0 0.0 - 0.0 -1.0 ].'; - - [Ao, Bo, Co, Do] = ssdata (c2d (ss (A, B, C, D), 2, "tustin")); - - Ae = [ -1.0000 -4.0000 - -4.0000 -1.0000 ]; - - Be = [ 2.8284 0.0000 - 0.0000 -2.8284 ]; - - Ce = [ 0.0000 2.8284 - -2.8284 0.0000 ]; - - De = [ -1.0000 0.0000 - 0.0000 -3.0000 ]; - - Mo = [Ao, Bo; Co, Do]; - Me = [Ae, Be; Ce, De]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 0.0 0.0 - 0.0 0.0 ]; - - [Ao, Bo, Co, Do] = ssdata (c2d (ss(A,B,C,D), 2, "imp")); - - Ae = [ 11.4019 8.6836 - 8.6836 11.4019 ]; - - Be = [ 17.3673 -22.8038 - 22.8038 -17.3673 ]; - - Ce = [ -1.0000 0.0000 - 0.0000 1.0000 ]; - - De = [ 0.0000 2.0000 - 2.0000 0.0000 ]; - - Mo = [Ao, Bo; Co, Do]; - Me = [Ae, Be; Ce, De]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - G = tf ({[1 0],1;[1],1},{[1 1 1],[1 1];[1 0],[1 2 1]}); - - [nuo, dno] = tfdata (c2d (G, 2, "imp")); - - nue = {[2 -0.3011 0], [2 0]; [2 0], [0 0.5413 0]}; - dne = {[1 0.1181 0.1353], [1 -0.1353]; [1 -1], [1 -0.2707 0.01832]}; - - Mo = [ nuo{1,1} nuo{1,2} nuo{2,1} nuo{2,2} dno{1,1} dno{1,2} dno{2,1} dno{2,2} ]; - Me = [ nue{1,1} nue{1,2} nue{2,1} nue{2,2} dne{1,1} dne{1,2} dne{2,1} dne{2,2} ]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin")); - - Mo = [Ao, Bo; Co, Do]; - Me = [A, B; C, D]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh")); - - Mo = [Ao, Bo; Co, Do]; - Me = [A, B; C, D]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (c2d (ss (A, B, C, D), 2, "foh")); - - Ae = [ 11.4019 8.6836 - 8.6836 11.4019 ]; - - Be = [ 37.5206 -43.4256 - 43.4256 -37.5206 ]; - - Ce = [ -1.0000 0.0000 - 0.0000 1.0000 ]; - - De = [ -0.0690 2.5056 - 2.5056 -2.0690 ]; - - Mo = [Ao, Bo; Co, Do]; - Me = [Ae, Be; Ce, De]; - -***** assert (Mo, Me, 1e-4); -***** shared Mo, Me - A = [ 1.0 0.5 - 0.5 1.0 ]; - - B = [ 0.0 -1.0 - 1.0 0.0 ]; - - C = [ -1.0 0.0 - 0.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 -1.0 ]; - - [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000)); - - Mo = [Ao, Bo; Co, Do]; - Me = [A, B; C, D]; - -***** assert (Mo, Me, 1e-4); -***** shared Aex, Aexint, Aex_exp, Aexint_exp - A = [ 5.0 4.0 3.0 2.0 1.0 - 1.0 6.0 0.0 4.0 3.0 - 2.0 0.0 7.0 6.0 5.0 - 1.0 3.0 1.0 8.0 7.0 - 2.0 5.0 7.0 1.0 9.0 ]; - - Aex_exp = [ 1.8391 0.9476 0.7920 0.8216 0.7811 - 0.3359 2.2262 0.4013 1.0078 1.0957 - 0.6335 0.6776 2.6933 1.6155 1.8502 - 0.4804 1.1561 0.9110 2.7461 2.0854 - 0.7105 1.4244 1.8835 1.0966 3.4134 ]; - - Aexint_exp = [ 0.1347 0.0352 0.0284 0.0272 0.0231 - 0.0114 0.1477 0.0104 0.0369 0.0368 - 0.0218 0.0178 0.1624 0.0580 0.0619 - 0.0152 0.0385 0.0267 0.1660 0.0732 - 0.0240 0.0503 0.0679 0.0317 0.1863 ]; - - [Aex, Aexint] = __sl_mb05nd__ (A, 0.1, 0.0001); - -***** assert (Aex, Aex_exp, 1e-4); -***** assert (Aexint, Aexint_exp, 1e-4); -10 tests, 10 passed, 0 known failure, 0 skipped -[inst/@lti/connect.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/connect.m -***** shared T, Texp - P = Boeing707; - I = ss (-eye (2)); - I.inname = P.outname; - I.outname = P.inname; - T = connect (P, I, P.inname, P.outname); - Texp = feedback (P); -***** assert (T.a, Texp.a, 1e-4); -***** assert (T.b, Texp.b, 1e-4); -***** assert (T.c, Texp.c, 1e-4); -***** assert (T.d, Texp.d, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/@lti/norm.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/norm.m -***** shared H2, Hinf - sys = ss (-1, 1, 1, 0); - H2 = norm (sys, 2); - Hinf = norm (sys, inf); -***** assert (H2, 0.7071, 1.5e-5); -***** assert (Hinf, 1, 5e-4); -***** shared H2, Hinf - a = [ 2.417 -1.002 0.5488 - 2 0 0 - 0 0.5 0 ]; - b = [ 1 - 0 - 0 ]; - c = [-0.424 0.436 -0.4552 ]; - d = [ 1 ]; - sys = ss (a, b, c, d, 0.1); - H2 = norm (sys, 2); - Hinf = norm (sys, inf); -***** assert (H2, 1.2527, 1.5e-5); -***** assert (Hinf, 2.7, 0.1); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/@lti/ssdata.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/ssdata.m -***** test - systf = tf ({[1 2 3],[1 1 1]},{[1 2 1],[1 3 3 1]}); - [A,B,C,D,tsam] = ssdata (systf); - s = -6:1.2:6; - Gss = zeros(length(s),2); - Gtf = zeros(length(s),2); - for j = 1:length(s) - Gss(j,:) = C*inv(eye(3,3)*i*s(j)-A)*B + D; - Gtf(j,:) = systf (s(j)); - endfor - assert (Gss, Gtf, 1e-6); - assert (tsam, 0, 1e-6); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@lti/sminreal.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/sminreal.m -***** shared B, C - - A = ss (-2, 3, 4, 5); - B = A / A; - C = sminreal (B); # no states should be removed - -***** assert (C.a, B.a); -***** assert (C.b, B.b); -***** assert (C.c, B.c); -***** assert (C.d, B.d); -***** shared A, B, D, E - - A = ss (-1, 1, 1, 0); - B = ss (-2, 3, 4, 5); - C = [A, B]; - D = sminreal (C(:, 1)); - E = sminreal (C(:, 2)); - -***** assert (D.a, A.a); -***** assert (D.b, A.b); -***** assert (D.c, A.c); -***** assert (D.d, A.d); -***** assert (E.a, B.a); -***** assert (E.b, B.b); -***** assert (E.c, B.c); -***** assert (E.d, B.d); -12 tests, 12 passed, 0 known failure, 0 skipped -[inst/@lti/plus.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/plus.m -***** shared M, Me - A1 = [ 1.0 0.0 -1.0 - 0.0 -1.0 1.0 - 1.0 1.0 2.0 ]; - - B1 = [ 1.0 1.0 0.0 - 2.0 0.0 1.0 ].'; - - C1 = [ 3.0 -2.0 1.0 - 0.0 1.0 0.0 ]; - - D1 = [ 1.0 0.0 - 0.0 1.0 ]; - - A2 = [-3.0 0.0 0.0 - 1.0 0.0 1.0 - 0.0 -1.0 2.0 ]; - - B2 = [ 0.0 -1.0 0.0 - 1.0 0.0 2.0 ].'; - - C2 = [ 1.0 1.0 0.0 - 1.0 1.0 -1.0 ]; - - D2 = [ 1.0 1.0 - 0.0 1.0 ]; - - sys1 = ss (A1, B1, C1, D1); - sys2 = ss (A2, B2, C2, D2); - sys = sys1 + sys2; - [A, B, C, D] = ssdata (sys); - M = [A, B; C, D]; - - Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 - 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 - 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000 - 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ]; - - Be = [ 1.0000 2.0000 - 1.0000 0.0000 - 0.0000 1.0000 - 0.0000 1.0000 - -1.0000 0.0000 - 0.0000 2.0000 ]; - - Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000 - 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; - - De = [ 2.0000 1.0000 - 0.0000 2.0000 ]; - - Me = [Ae, Be; Ce, De]; - -***** assert (M, Me, 1e-4); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@lti/mtimes.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/mtimes.m -***** shared sysmat, sysmat_exp - sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]); - sys2 = ss ([-10], [1], [-40], [5]); - sys3 = sys2 * sys1; - [A, B, C, D] = ssdata (sys3); - sysmat = [A, B; C, D]; - A_exp = [ -10 -5 1 - 0 0 1 - 0 -3 -2 ]; - B_exp = [ 2 - 0 - 1 ]; - C_exp = [ -40 -25 5 ]; - D_exp = [ 10 ]; - sysmat_exp = [A_exp, B_exp; C_exp, D_exp]; -***** assert (sysmat, sysmat_exp) -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@lti/minreal.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/minreal.m -***** shared C, D - - A = ss (-2, 3, 4, 5); - B = A / A; - C = minreal (B, 1e-15); - D = ss (1); - -***** assert (C.a, D.a); -***** assert (C.b, D.b); -***** assert (C.c, D.c); -***** assert (C.d, D.d); -***** shared M, Me - A = [ 1.0 2.0 0.0 - 4.0 -1.0 0.0 - 0.0 0.0 1.0 ]; - - B = [ 1.0 - 0.0 - 1.0 ]; - - C = [ 0.0 1.0 -1.0 - 0.0 0.0 1.0 ]; - - D = zeros (2, 1); - - [Ar, Br, Cr] = __sl_tb01pd__ (A, B, C, 0.0, true); - M = [Ar, Br; Cr, D]; - - Ae = [ 1.0000 -1.4142 1.4142 - -2.8284 0.0000 1.0000 - 2.8284 1.0000 0.0000 ]; - - Be = [-1.0000 - 0.7071 - 0.7071 ]; - - Ce = [ 0.0000 0.0000 -1.4142 - 0.0000 0.7071 0.7071 ]; - - De = zeros (2, 1); - - Me = [Ae, Be; Ce, De]; - -***** assert (M, Me, 1e-4); -***** shared Ar, Br, Cr, Dr, Er, Ae, Be, Ce, De, Ee, num, den, num2, den2, num3, num3a, den3, den3a - A = [ -2 -3 0 0 0 0 0 0 0 - 1 0 0 0 0 0 0 0 0 - 0 0 -2 -3 0 0 0 0 0 - 0 0 1 0 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 1 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 - 0 0 0 0 0 0 0 0 1 ]; - - E = [ 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 1 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 ]; - - B = [ 1 0 - 0 0 - 0 1 - 0 0 - -1 0 - 0 0 - 0 -1 - 0 0 - 0 0 ]; - - C = [ 1 0 1 -3 0 1 0 2 0 - 0 1 1 3 0 1 0 0 1 ]; - - D = zeros (2, 2); - - sys = dss (A, B, C, D, E, "scaled", true); - sysmin = minreal (sys, 0.0); - [Ar, Br, Cr, Dr, Er] = dssdata (sysmin); - [num,den]=tfdata(sys); - sysmin = minreal (sys, 1e-6); - [num2,den2]=tfdata(sysmin); - sys3 = dss (Ar, Br, Cr, Dr, Er, "scaled", true); - [num3,den3]=tfdata(sys3); - sysmin3 = minreal (sys3, 1e-6); - [num3a,den3a]=tfdata(sysmin3); - -***** assert (num, num2 , 1e-4); -***** assert (den, den2 , 1e-4); -***** assert (num3, num3a , 1e-4); -***** assert (den3, den3a , 1e-4); -***** assert (num, num3a, 1e-4); -***** assert (den, den3a, 1e-4); -***** shared a, b, c, d - s = tf ("s"); - G1 = (s+1)*s*5/(s+1)/(s^2+s+1); - G2 = tf ([1, 1, 1], [2, 2, 2]); - G1min = minreal (G1); - G2min = minreal (G2); - a = G1min.num{1, 1}; - b = G1min.den{1, 1}; - c = G2min.num{1, 1}; - d = G2min.den{1, 1}; -***** assert (a, [0, 5, 0], 1e-4); -***** assert (b, [1, 1, 1], 1e-4); -***** assert (c, 0.5, 1e-4); -***** assert (d, 1, 1e-4); -15 tests, 15 passed, 0 known failure, 0 skipped -[inst/@lti/prescale.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/prescale.m -***** shared Ao, Bo, Co, SCALEo, MAXREDo, Ae, Be, Ce, SCALEe, MAXREDe - A = [ 0.0 1.0000e+000 0.0 0.0 0.0 - -1.5800e+006 -1.2570e+003 0.0 0.0 0.0 - 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011 - 0.0 0.0 0.0 0.0 1.0000e+000 - 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ]; - - B = [ 0.0 0.0 - 1.1030e+002 0.0 - 0.0 0.0 - 0.0 0.0 - 0.0 8.3330e-003 ]; - - C = [ 1.0000e+000 0.0 0.0 0.0 0.0 - 0.0 0.0 1.0000e+000 0.0 0.0 - 0.0 0.0 0.0 1.0000e+000 0.0 - 6.6640e-001 0.0 -6.2000e-013 0.0 0.0 - 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ]; - - MAXRED = 0.0; - - [Ao, Bo, Co, MAXREDo, SCALEo] = __sl_tb01id__ (A, B, C, MAXRED); - - Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00 - -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00 - 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03 - 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03 - 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ]; - - Be = [ 0.0000000D+00 0.0000000D+00 - 0.1103000D+04 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.8333000D+02 ]; - - Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00 - 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ]; - - SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ]; - - MAXREDe = 0.3488E+10; - -***** assert (Ao, Ae, 1e-4); -***** assert (Bo, Be, 1e-4); -***** assert (Co, Ce, 1e-4); -***** assert (MAXREDo, MAXREDe, 1e6); -***** assert (SCALEo, SCALEe.', 1e-4); -***** shared Ao, Eo, Bo, Co, LSCALEo, RSCALEo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe - A = [ -1 0 0 0.003 - 0 0 0.1000 0.02 - 100 10 0 0.4 - 0 0 0 0.0]; - - E = [ 1 0.2 0 0.0 - 0 1 0 0.01 - 300 90 6 0.3 - 0 0 20 0.0]; - - B = [ 10 0 - 0 0 - 0 1000 - 10000 10000]; - - C = [ -0.1 0.0 0.001 0.0 - 0.0 0.01 -0.001 0.0001]; - - TRESH = 0.0; - - [Ao, Eo, Bo, Co, LSCALEo, RSCALEo] = __sl_tg01ad__ (A, E, B, C, TRESH); - - Ae = [ -1.0000 0.0000 0.0000 0.3000 - 0.0000 0.0000 1.0000 2.0000 - 1.0000 0.1000 0.0000 0.4000 - 0.0000 0.0000 0.0000 0.0000]; - - Ee = [ 1.0000 0.2000 0.0000 0.0000 - 0.0000 1.0000 0.0000 1.0000 - 3.0000 0.9000 0.6000 0.3000 - 0.0000 0.0000 0.2000 0.0000 ]; - - Be = [100.0000 0.0000 - 0.0000 0.0000 - 0.0000 100.0000 - 100.0000 100.0000 ]; - - Ce = [ -0.0100 0.0000 0.0010 0.0000 - 0.0000 0.0010 -0.0010 0.0010]; - - LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ]; - - RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ]; - -***** assert (Ao, Ae, 1e-4); -***** assert (Eo, Ee, 1e-4); -***** assert (Bo, Be, 1e-4); -***** assert (Co, Ce, 1e-4); -***** assert (LSCALEo, LSCALEe.', 1e-4); -***** assert (RSCALEo, RSCALEe.', 1e-4); -***** shared Ao, Bo, Co, INFOo, Ae, Be, Ce, SCALEe - A = [ 0.0 1.0000e+000 0.0 0.0 0.0 - -1.5800e+006 -1.2570e+003 0.0 0.0 0.0 - 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011 - 0.0 0.0 0.0 0.0 1.0000e+000 - 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ]; - - B = [ 0.0 0.0 - 1.1030e+002 0.0 - 0.0 0.0 - 0.0 0.0 - 0.0 8.3330e-003 ]; - - C = [ 1.0000e+000 0.0 0.0 0.0 0.0 - 0.0 0.0 1.0000e+000 0.0 0.0 - 0.0 0.0 0.0 1.0000e+000 0.0 - 6.6640e-001 0.0 -6.2000e-013 0.0 0.0 - 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ]; - - SYS = ss (A, B, C); - - [SYSo, INFOo] = prescale (SYS); - - [Ao, Bo, Co] = ssdata (SYSo); - - Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00 - -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00 - 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03 - 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03 - 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ]; - - Be = [ 0.0000000D+00 0.0000000D+00 - 0.1103000D+04 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.8333000D+02 ]; - - Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00 - 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00 - 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ]; - - SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ]; - -***** assert (Ao, Ae, 1e-4); -***** assert (Bo, Be, 1e-4); -***** assert (Co, Ce, 1e-4); -***** assert (INFOo.SL.^-1, SCALEe.', 1e-4); -***** assert (INFOo.SR, SCALEe.', 1e-4); -***** shared Ao, Eo, Bo, Co, INFOo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe - A = [ -1 0 0 0.003 - 0 0 0.1000 0.02 - 100 10 0 0.4 - 0 0 0 0.0]; - - E = [ 1 0.2 0 0.0 - 0 1 0 0.01 - 300 90 6 0.3 - 0 0 20 0.0]; - - B = [ 10 0 - 0 0 - 0 1000 - 10000 10000]; - - C = [ -0.1 0.0 0.001 0.0 - 0.0 0.01 -0.001 0.0001]; - - SYS = dss (A, B, C, [], E); - - [SYSo, INFOo] = prescale (SYS); - - [Ao, Bo, Co, ~, Eo] = dssdata (SYSo); - - Ae = [ -1.0000 0.0000 0.0000 0.3000 - 0.0000 0.0000 1.0000 2.0000 - 1.0000 0.1000 0.0000 0.4000 - 0.0000 0.0000 0.0000 0.0000]; - - Ee = [ 1.0000 0.2000 0.0000 0.0000 - 0.0000 1.0000 0.0000 1.0000 - 3.0000 0.9000 0.6000 0.3000 - 0.0000 0.0000 0.2000 0.0000 ]; - - Be = [100.0000 0.0000 - 0.0000 0.0000 - 0.0000 100.0000 - 100.0000 100.0000 ]; - - Ce = [ -0.0100 0.0000 0.0010 0.0000 - 0.0000 0.0010 -0.0010 0.0010]; - - LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ]; - - RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ]; - -***** assert (Ao, Ae, 1e-4); -***** assert (Eo, Ee, 1e-4); -***** assert (Bo, Be, 1e-4); -***** assert (Co, Ce, 1e-4); -***** assert (INFOo.SL, LSCALEe.', 1e-4); -***** assert (INFOo.SR, RSCALEe.', 1e-4); -22 tests, 22 passed, 0 known failure, 0 skipped -[inst/@lti/isminimumphase.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/isminimumphase.m -***** assert (isminimumphase (tf (1, [1, 0])), true); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@lti/zero.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/zero.m -***** shared z, z_exp - A = [ -0.7 -0.0458 -12.2 0 - 0 -0.014 -0.2904 -0.562 - 1 -0.0057 -1.4 0 - 1 0 0 0 ]; - - B = [ -19.1 -3.1 - -0.0119 -0.0096 - -0.14 -0.72 - 0 0 ]; - - C = [ 0 0 -1 1 - 0 0 0.733 0 ]; - - D = [ 0 0 - 0.0768 0.1134 ]; - - sys = ss (A, B, C, D, "scaled", true); - z = sort (zero (sys)); - - z_exp = sort ([-13.2759; 12.5774; -0.0155]); - -***** assert (z, z_exp, 1e-4); -***** shared z, z_exp, info, rank_exp, infz_exp, kronr_exp, kronl_exp - A = [ 1.0 0.0 0.0 0.0 0.0 0.0 - 0.0 1.0 0.0 0.0 0.0 0.0 - 0.0 0.0 3.0 0.0 0.0 0.0 - 0.0 0.0 0.0 -4.0 0.0 0.0 - 0.0 0.0 0.0 0.0 -1.0 0.0 - 0.0 0.0 0.0 0.0 0.0 3.0 ]; - - B = [ 0.0 -1.0 - -1.0 0.0 - 1.0 -1.0 - 0.0 0.0 - 0.0 1.0 - -1.0 -1.0 ]; - - C = [ 1.0 0.0 0.0 1.0 0.0 0.0 - 0.0 1.0 0.0 1.0 0.0 1.0 - 0.0 0.0 1.0 0.0 0.0 1.0 ]; - - D = [ 0.0 0.0 - 0.0 0.0 - 0.0 0.0 ]; - - sys = ss (A, B, C, D, "scaled", true); - [z, ~, info] = zero (sys); - - z_exp = [ 2.0000 - -1.0000 ]; - - rank_exp = 2; - infz_exp = 2; - kronr_exp = zeros (1, 0); - kronl_exp = 2; - -***** assert (z, z_exp, 1e-4); -***** assert (info.rank, rank_exp); -***** assert (info.infz, infz_exp); -***** assert (info.kronr, kronr_exp); -***** assert (info.kronl, kronl_exp); -***** shared z, z_exp, info, rank_exp, infz_exp, kronr_exp, kronl_exp - A = [ 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 1 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 1 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 - 0 0 0 0 0 0 0 0 1 ]; - - E = [ 0 0 0 0 0 0 0 0 0 - 1 0 0 0 0 0 0 0 0 - 0 1 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 1 0 0 0 0 0 - 0 0 0 0 1 0 0 0 0 - 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 1 0 0 - 0 0 0 0 0 0 0 1 0 ]; - - B = [ -1 0 0 - 0 0 0 - 0 0 0 - 0 -1 0 - 0 0 0 - 0 0 0 - 0 0 -1 - 0 0 0 - 0 0 0 ]; - - C = [ 0 1 1 0 3 4 0 0 2 - 0 1 0 0 4 0 0 2 0 - 0 0 1 0 -1 4 0 -2 2 ]; - - D = [ 1 2 -2 - 0 -1 -2 - 0 0 0 ]; - - sys = dss (A, B, C, D, E, "scaled", true); - [z, ~, info] = zero (sys); - - z_exp = 1; - - rank_exp = 11; - infz_exp = [0, 1]; - kronr_exp = 2; - kronl_exp = 1; - -***** assert (z, z_exp, 1e-4); -***** assert (info.rank, rank_exp); -***** assert (info.infz, infz_exp); -***** assert (info.kronr, kronr_exp); -***** assert (info.kronl, kronl_exp); -***** shared p, pi, z, zi, k, ki, p_tf, pi_tf, z_tf, zi_tf, k_tf, ki_tf - P = ss (-2, 3, 4, 5); - Pi = inv (P); - - p = pole (P); - [z, k] = zero (P); - - pi = pole (Pi); - [zi, ki] = zero (Pi); - - P_tf = tf (P); - Pi_tf = tf (Pi); - - p_tf = pole (P_tf); - [z_tf, k_tf] = zero (P_tf); - - pi_tf = pole (Pi_tf); - [zi_tf, ki_tf] = zero (Pi_tf); - -***** assert (p, zi, 1e-4); -***** assert (z, pi, 1e-4); -***** assert (k, inv (ki), 1e-4); -***** assert (p_tf, zi_tf, 1e-4); -***** assert (z_tf, pi_tf, 1e-4); -***** assert (k_tf, inv (ki_tf), 1e-4); -***** shared z_inv, z_tra, z_inp, z_out, z_sys, z_inv_e, z_tra_e, z_inp_e, z_out_e, z_sys_e - A = diag ([1, 1, 3, -4, -1, 3]); +[inst/__dss2ss__.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/__dss2ss__.m +***** shared a, b, c, e, ranke, rnka22, q, z, a_exp, b_exp, c_exp, e_exp, q_exp, z_exp - B = [ 0, -1 - -1, 0 - 1, -1 - 0, 0 - 0, 1 - -1, -1 ]; - - C = [ 1, 0, 0, 1, 0, 0 - 0, 1, 0, 1, 0, 1 - 0, 0, 1, 0, 0, 1 ]; - - D = zeros (3, 2); + e = [1, 2, 0, 0; 0, 1, 0, 1; 3, 9, 6, 3; 0, 0, 2, 0]; + a = [-1, 0, 0, 3; 0, 0, 1, 2; 1, 1, 0, 4; 0, 0, 0, 0]; + b = [1, 0; 0, 0; 0, 1; 1, 1]; + c = [-1, 0, 1, 0; 0, 1, -1, 1]; - SYS = ss (A, B, C, D); - - z_inv = zero (SYS); - z_tra = zero (SYS, "transmission"); - z_inp = zero (SYS, "input decoupling"); - z_out = zero (SYS, "output decoupling"); - z_sys = zero (SYS, "system"); - - z_inv_e = [2; -1]; - z_tra_e = [2]; - z_inp_e = [-4]; - z_out_e = [-1]; - z_sys_e = [-4, -1, 2]; + [a, e, b, c, ranke, rnka22, q, z] = __sl_tg01fd__ (a, e, b, c, true, 0.0); -***** assert (z_inv, z_inv_e, 1e-4); -***** assert (z_tra, z_tra_e, 1e-4); -***** assert (z_inp, z_inp_e, 1e-4); -***** assert (z_out, z_out_e, 1e-4); -***** assert (z_sys, z_sys_e, 1e-4); -***** shared z_inv, z_tra, z_inp, z_out, z_sys, z_inv_e, z_tra_e, z_inp_e, z_out_e, z_sys_e - A = diag ([1, 1, 3, -4, -1, 3]); + e_exp = [10.1587 5.8230 1.3021 0.0000; + 0.0000 -2.4684 -0.1896 0.0000; + 0.0000 0.0000 1.0338 0.0000; + 0.0000 0.0000 0.0000 0.0000]; - B = [ 0, -1 - -1, 0 - 1, -1 - 0, 0 - 0, 1 - -1, -1 ]; - - C = [ 1, 0, 0, 1, 0, 0 - 0, 1, 0, 1, 0, 1 - 0, 0, 1, 0, 0, 1 ]; - - D = zeros (3, 2); - - E = eye (6); + a_exp = [ 2.0278 0.1078 3.9062 -2.1571; + -0.0980 0.2544 1.6053 -0.1269; + 0.2713 0.7760 -0.3692 -0.4853; + 0.0690 -0.5669 -2.1974 0.3086]; - SYS = dss (A, B, C, D, E); - - z_inv = zero (SYS); - z_tra = zero (SYS, "transmission"); - z_inp = zero (SYS, "input decoupling"); - z_out = zero (SYS, "output decoupling"); - z_sys = zero (SYS, "system"); - - z_inv_e = [2; -1]; - z_tra_e = [2]; - z_inp_e = [-4]; - z_out_e = [-1]; - z_sys_e = [-4, -1, 2]; + b_exp = [-0.2157 -0.9705; + 0.3015 0.9516; + 0.7595 0.0991; + 1.1339 0.3780]; -***** assert (z_inv, z_inv_e, 1e-4); -***** assert (z_tra, z_tra_e, 1e-4); -***** assert (z_inp, z_inp_e, 1e-4); -***** assert (z_out, z_out_e, 1e-4); -***** assert (z_sys, z_sys_e, 1e-4); -27 tests, 27 passed, 0 known failure, 0 skipped -[inst/@lti/inv.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/inv.m -***** shared M, Me - A = [ 1.0 2.0 0.0 - 4.0 -1.0 0.0 - 0.0 0.0 1.0 ]; - - B = [ 1.0 0.0 - 0.0 1.0 - 1.0 0.0 ]; - - C = [ 0.0 1.0 -1.0 - 0.0 0.0 1.0 ]; - - D = [ 4.0 0.0 - 0.0 1.0 ]; - - sys = ss (A, B, C, D); - sysinv = inv (sys); - [Ai, Bi, Ci, Di] = ssdata (sysinv); - M = [Ai, Bi; Ci, Di]; - - Ae = [ 1.0000 1.7500 0.2500 - 4.0000 -1.0000 -1.0000 - 0.0000 -0.2500 1.2500 ]; - - Be = [-0.2500 0.0000 - 0.0000 -1.0000 - -0.2500 0.0000 ]; - - Ce = [ 0.0000 0.2500 -0.2500 - 0.0000 0.0000 1.0000 ]; - - De = [ 0.2500 0.0000 - 0.0000 1.0000 ]; - - Me = [Ae, -Be; -Ce, De]; - -***** assert (M, Me, 1e-4); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@iddata/iddata.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/iddata.m -***** error (iddata); -***** error (iddata ((1:10).', (1:11).')); -***** warning (iddata (1:10)); -***** warning (iddata (1:10, 1:10)); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/@iddata/fft.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/fft.m -***** shared DATD, Y, U - Y = 1:10; - U = 20:-2:1; - W = warning ("query", "iddata:transpose"); - warning ("off", W.identifier); - DAT = iddata (Y, U); - DATD = fft (DAT); - warning (W.identifier, W.state); -***** assert (DATD.y{1}, Y, 1e-10); -***** assert (DATD.u{1}, U, 1e-10); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/@iddata/cat.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/cat.m -***** error (cat (1, iddata (1, 1), iddata ({2, 3}, {2, 3}))); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/@iddata/detrend.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/detrend.m -***** shared DATD, Z - DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']}); - DATD = detrend (DAT, "linear"); - Z = zeros (10, 2); -***** assert (DATD.y{1}, Z, 1e-10); -***** assert (DATD.y{2}, Z, 1e-10); -***** assert (DATD.u{1}, Z, 1e-10); -***** assert (DATD.u{2}, Z, 1e-10); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/@iddata/filter.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/filter.m -***** shared DATD, Z - DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']}); - DATD = detrend (DAT, "linear"); - Z = zeros (10, 2); -***** assert (DATD.y{1}, Z, 1e-10); -***** assert (DATD.y{2}, Z, 1e-10); -***** assert (DATD.u{1}, Z, 1e-10); -***** assert (DATD.u{2}, Z, 1e-10); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/filt.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/filt.m -***** shared num, den, n1, d1, n2, d2, n2e, d2e - num = [0, 3]; - den = [1, 4, 2]; - sys = filt (num, den); - [n1, d1] = filtdata (sys, "vector"); - [n2, d2] = tfdata (sys, "vector"); - n2e = [0, 3, 0]; - d2e = [1, 4, 2]; -***** assert (n1, num, 1e-4); -***** assert (d1, den, 1e-4); -***** assert (n2, n2e, 1e-4); -***** assert (d2, d2e, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/care.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/care.m -***** shared x, l, g, xe, le, ge - a = [-3 2 - 1 1]; - - b = [ 0 - 1]; - - c = [ 1 -1]; - - r = 3; - - [x, l, g] = care (a, b, c.'*c, r); - - xe = [ 0.5895 1.8216 - 1.8216 8.8188]; - - le = [-3.5026 - -1.4370]; - - ge = [ 0.6072 2.9396]; - -***** assert (x, xe, 1e-4); -***** assert (l, le, 1e-4); -***** assert (g, ge, 1e-4); -***** shared x, l, g, xe, le, ge - a = [ 0.0 1.0 - 0.0 0.0]; - - b = [ 0.0 - 1.0]; - - c = [ 1.0 0.0 - 0.0 1.0 - 0.0 0.0]; - - d = [ 0.0 - 0.0 - 1.0]; - - [x, l, g] = care (a, b, c.'*c, d.'*d); - - xe = [ 1.7321 1.0000 - 1.0000 1.7321]; - - le = [-0.8660 + 0.5000i - -0.8660 - 0.5000i]; - - ge = [ 1.0000 1.7321]; - -***** assert (x, xe, 1e-4); -***** assert (l, le, 1e-4); -***** assert (g, ge, 1e-4); -***** shared x, xe - a = [ 0.0 1.0 - 0.0 0.0 ]; - - e = [ 1.0 0.0 - 0.0 1.0 ]; - - b = [ 0.0 - 1.0 ]; - - c = [ 1.0 0.0 - 0.0 1.0 - 0.0 0.0 ]; - - d = [ 0.0 - 0.0 - 1.0 ]; - - x = care (a, b, c.'*c, d.'*d, [], e); - - xe = [ 1.7321 1.0000 - 1.0000 1.7321 ]; - -***** assert (x, xe, 1e-4); -7 tests, 7 passed, 0 known failure, 0 skipped -[inst/fwcfconred.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/fwcfconred.m -***** shared Mo, Me, Info, HSVe - A = [ 0 1.0000 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 - 0 0 -0.0150 0.7650 0 0 0 0 - 0 0 -0.7650 -0.0150 0 0 0 0 - 0 0 0 0 -0.0280 1.4100 0 0 - 0 0 0 0 -1.4100 -0.0280 0 0 - 0 0 0 0 0 0 -0.0400 1.850 - 0 0 0 0 0 0 -1.8500 -0.040 ]; - - B = [ 0.0260 - -0.2510 - 0.0330 - -0.8860 - -4.0170 - 0.1450 - 3.6040 - 0.2800 ]; - - C = [ -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026 ]; - - D = [ 0.0 ]; - - G = ss (A, B, C, D); % "scaled", false - - F = [ 4.472135954999638e-002 6.610515358414598e-001 4.698598960657579e-003 3.601363251422058e-001 1.032530880771415e-001 -3.754055214487997e-002 -4.268536964759344e-002 3.287284547842979e-002 ]; - - L = [ 4.108939884667451e-001 - 8.684600000000012e-002 - 3.852317308197148e-004 - -3.619366874815911e-003 - -8.803722876359955e-003 - 8.420521094001852e-003 - 1.234944428038507e-003 - 4.263205617645322e-003 ]; - - [Kr, Info] = fwcfconred (G, F, L, 2, "method", "bfsr", "cf", "right", "feedback", "+"); - [Ao, Bo, Co, Do] = ssdata (Kr); - - Ae = [ -0.4334 0.4884 - -0.1950 -0.1093 ]; - - Be = [ -0.4231 - -0.1785 ]; - - Ce = [ -0.0326 -0.2307 ]; - - De = [ 0.0000 ]; - - HSVe = [ 3.3073 0.7274 0.1124 0.0784 0.0242 0.0182 0.0101 0.0094 ].'; - - Mo = [Ao, Bo; Co, Do]; - Me = [Ae, Be; Ce, De]; - -***** assert (Mo, Me, 1e-4); -***** assert (Info.hsv, HSVe, 1e-4); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/lqry.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqry.m + c_exp = [ 0.3651 -1.0000 -0.4472 -0.8165; + -1.0954 1.0000 -0.8944 0.0000]; + + q_exp = [-0.2157 -0.5088 0.6109 0.5669; + -0.1078 -0.2544 -0.7760 0.5669; + -0.9705 0.1413 -0.0495 -0.1890; + 0.0000 0.8102 0.1486 0.5669]; + + z_exp = [-0.3651 0.0000 0.4472 0.8165; + -0.9129 0.0000 0.0000 -0.4082; + 0.0000 -1.0000 0.0000 0.0000; + -0.1826 0.0000 -0.8944 0.4082]; + +***** assert (a, a_exp, 1e-4); +***** assert (e, e_exp, 1e-4); +***** assert (b, b_exp, 1e-4); +***** assert (c, c_exp, 1e-4); +***** assert (q, q_exp, 1e-4); +***** assert (z, z_exp, 1e-4); +***** assert (ranke, 3); +***** assert (rnka22, 1); +***** shared mms + + mm = tf ([3, 5, 0], [4, 1]); + mms = ss (mm); +***** error (__dss2ss__ (mms.a, mms.b, mms.c, mms.d, mms.e)); ***** test - A = [1 -1; 0 -5]; - B = [0;1]; + A = [1 0; 0 1]; + B = [1; 0]; C = [1 0]; D = 0; - sys = ss(A,B,C,D); - g = lqry(sys,10,1,1); - assert(eig(A-B*g)<0,'lqry error') -1 test, 1 passed, 0 known failure, 0 skipped -[inst/ltimodels.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/ltimodels.m -***** shared ltisys - ltisys = tf (12); -***** assert (ltisys.ts, 0); -***** assert (isstaticgain (ltisys)); -***** assert (isct (ltisys)); -***** assert (! isdt (ltisys)); -***** shared ltisys - ltisys = ss (17); -***** assert (ltisys.ts, 0); -***** assert (isstaticgain (ltisys)); -***** assert (! isdt (ltisys)); -***** assert (isct (ltisys)); -***** shared ltisys - ltisys = tf ({[0 9],[0 0 10]},{2,5},2); -***** assert (ltisys.ts, 2); -***** assert (isstaticgain (ltisys)); -***** assert (isdt (ltisys)); -***** assert (! isct (ltisys)); -***** shared ltisys - ltisys = tf (1, [1 1]); -***** assert (ltisys.ts, 0); -***** assert (isct (ltisys)); -***** assert (! isdt (ltisys)); -***** shared ltisys, ts - ts = 0.1; - ltisys = ss (-1, 1, 1, 0, ts); -***** assert (ltisys.ts, ts); -***** assert (! isct (ltisys)); -***** assert (isdt (ltisys)); -***** shared ltisys - ltisys = ss ([],[],[], 3); -***** assert (ltisys.ts, 0); -***** assert (isstaticgain (ltisys)); -***** assert (isct (ltisys)); -***** assert (! isdt (ltisys)); -***** shared Ac, Bc, Ace, Bce - A = [ 17.0 24.0 1.0 8.0 15.0 - 23.0 5.0 7.0 14.0 16.0 - 4.0 6.0 13.0 20.0 22.0 - 10.0 12.0 19.0 21.0 3.0 - 11.0 18.0 25.0 2.0 9.0 ]; - - B = [ -1.0 -4.0 - 4.0 9.0 - -9.0 -16.0 - 16.0 25.0 - -25.0 -36.0 ]; - - tol = 0; - - A = A.'; # There's a little mistake in the example - # program of routine AB01OD in SLICOT 5.0 - - [Ac, Bc, U, ncont] = __sl_ab01od__ (A, B, tol); - - Ace = [ 12.8848 3.2345 11.8211 3.3758 -0.8982 - 4.4741 -12.5544 5.3509 5.9403 1.4360 - 14.4576 7.6855 23.1452 26.3872 -29.9557 - 0.0000 1.4805 27.4668 22.6564 -0.0072 - 0.0000 0.0000 -30.4822 0.6745 18.8680 ]; - - Bce = [ 31.1199 47.6865 - 3.2480 0.0000 - 0.0000 0.0000 - 0.0000 0.0000 - 0.0000 0.0000 ]; - -***** assert <45008> (Ac, Ace, 1e-4); -***** assert (Bc, Bce, 1e-4); -***** shared ac, ec, bc, cc, q, z, ncont, ac_e, ec_e, bc_e, cc_e, q_e, z_e, ncont_e - - a = [ 2 0 2 0 -1 3 1 - 0 1 0 0 1 0 0 - 0 0 0 1 0 0 1 - 0 0 2 0 -1 3 1 - 0 0 0 1 0 0 1 - 0 1 0 0 1 0 0 - 0 0 0 1 0 0 1 ]; - - e = [ 0 0 1 0 0 0 0 - 0 0 0 0 0 1 0 - 0 0 0 0 0 0 1 - 0 0 0 0 0 0 1 - 0 0 0 1 0 0 0 - 0 0 1 0 -1 0 0 - 1 3 0 2 0 0 0 ]; - - b = [ 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 1 2 3 ]; - - c = [ 1 0 0 1 0 0 1 - 0 -1 1 0 -1 1 0 ]; - - tol = 0; - - [ac, ec, bc, cc, q, z, ncont] = __sl_tg01hd__ (a, e, b, c, tol); - - ncont_e = 3; - - ac_e = [ 0.0000 0.0000 0.0000 0.0000 -1.2627 0.4334 0.4666 - 0.0000 2.0000 0.0000 -3.7417 -0.8520 0.2924 -0.4342 - 0.0000 0.0000 1.7862 0.3780 -0.2651 -0.7723 0.0000 - 0.0000 0.0000 0.0000 3.7417 0.8520 -0.2924 0.4342 - 0.0000 0.0000 0.0000 0.0000 -1.5540 0.5334 0.5742 - 0.0000 0.0000 0.0000 0.0000 -0.6533 0.2242 0.2414 - 0.0000 0.0000 0.0000 0.0000 -0.5892 0.2022 0.2177 ]; - - ec_e = [ -1.8325 1.0000 2.3752 0.0000 -0.8214 0.2819 1.8016 - 0.4887 0.0000 0.3770 -0.5345 0.1874 0.5461 0.0000 - -0.1728 0.0000 -0.1333 -1.1339 0.1325 0.3861 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.8520 -0.2924 0.4342 - 0.0000 0.0000 0.0000 0.0000 -1.0260 -0.1496 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 1.1937 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ]; - - bc_e = [ 1.0000 2.0000 3.0000 - 2.0000 1.0000 0.0000 - 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 ]; + E = [1 0; 0 0]; + + sys = dss (A, B, C, D, E); + [Ao, Bo, Co, Do] = ssdata (sys); - cc_e = [ 0.0000 1.0000 0.0000 0.0000 -1.2627 0.4334 0.4666 - 0.3665 0.0000 -0.9803 -1.6036 0.1874 0.5461 0.0000 ]; + assert (Ao, 1, 1e-4); + assert (Bo, 1, 1e-4); + assert (Co, 1, 1e-4); + assert (Do, 0, 1e-4); +10 tests, 10 passed, 0 known failure, 0 skipped +[inst/mag2db.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/mag2db.m +***** assert (mag2db (100), 40); +***** assert (mag2db (0.1), -20); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/moen4.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/moen4.m +***** shared SYS, X0, INFO, Ae, Be, Ce, De, Ke, Qe, Rye, Se, X0e - q_e = [ 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.7071 0.0000 0.2740 -0.6519 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.8304 0.3491 -0.4342 - 0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.4003 0.1683 0.9008 - 0.0000 0.0000 0.7071 0.0000 -0.2740 0.6519 0.0000 - 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 ]; + Y = [ 4.7661 5.5451 5.8503 5.3766 4.8833 5.4865 3.5378 5.3155 6.0530 4.3729 + 4.7637 5.1886 5.9236 5.6818 4.8858 5.1495 3.5549 5.5329 6.0799 4.7417 + 4.8394 4.8833 5.9212 5.8235 4.8931 4.8442 3.4938 5.4450 6.1287 5.0884 + 5.0030 4.6000 5.9773 5.9529 4.7148 4.5414 3.4474 5.3961 6.0799 5.1861 + 5.0176 4.2704 5.7405 6.0628 4.4511 4.2679 3.4401 5.2740 6.1678 5.0372 + 5.0567 4.0384 5.3888 6.0897 4.2337 4.0604 3.4083 5.0274 6.1947 4.7856 + 5.1544 3.8381 5.0005 6.0750 4.0433 3.9602 3.4108 4.7441 6.2362 4.5634 + 5.3619 3.7112 4.8491 6.0262 3.8650 3.7893 3.4523 4.6684 6.0530 4.5341 + 5.4254 3.5915 4.9444 5.9944 3.7576 3.6428 3.6818 4.6513 5.6525 4.7050 + 5.5695 3.5353 5.1739 6.0775 3.6696 3.5256 4.0604 4.5146 5.2740 4.7417 + 5.6818 3.4865 5.3693 5.8577 3.5939 3.4987 4.4413 4.2679 4.8589 4.6489 + 5.7429 3.4767 5.4474 5.7014 3.5475 3.4547 4.8540 4.2606 4.5341 4.4315 + 5.8039 3.4254 5.6037 5.7307 3.5060 3.4083 5.1544 4.2630 4.4560 4.2386 + 5.9187 3.3815 5.7307 5.7844 3.4547 3.3790 5.4254 4.1898 4.6196 4.0652 + 5.8210 3.3693 5.8503 5.8235 3.3986 3.3766 5.5964 4.2777 4.8662 3.9431 + 5.4474 3.3644 5.9798 5.8943 3.3619 3.3619 5.5866 4.6000 5.1177 3.8113 + 5.0616 3.3473 5.9920 5.7624 3.3400 3.3595 5.3546 4.9322 5.1666 3.6916 + 4.6293 3.3815 6.0848 5.4157 3.3742 3.3693 5.0274 5.2838 5.0567 3.6525 + 4.2679 3.4206 5.9407 4.9615 3.5207 3.3986 4.8638 5.5280 5.0030 3.8259 + 4.0115 3.4132 5.8039 4.5952 3.7136 3.5793 4.7612 5.7405 5.0982 4.2240 + 3.8503 3.4523 5.7917 4.3314 3.7576 3.9480 4.5707 5.8748 5.3253 4.4242 + 3.7112 3.6355 5.6037 4.2972 3.7795 4.4120 4.3681 5.9554 5.5671 4.4291 + 3.5695 4.0384 5.2643 4.5829 3.6965 4.5854 4.3974 5.9920 5.4670 4.3192 + 3.5182 4.3754 4.9468 4.8613 3.7771 4.5146 4.5732 5.8455 5.2521 4.1385 + 3.6525 4.7270 4.6196 5.1739 3.8870 4.3436 4.8418 5.5280 4.9468 3.9651 + 3.8186 5.0567 4.5146 5.1666 3.9041 4.1556 5.2032 5.0616 4.8809 3.8870 + 3.8626 5.2985 4.4340 4.9199 3.8503 3.9847 5.4523 4.7344 4.9810 3.8015 + 4.0115 5.5329 4.2850 4.6074 3.9651 4.0433 5.6525 4.5341 5.2252 3.7014 + 4.3534 5.4670 4.1214 4.3705 4.2826 4.3070 5.8552 4.5341 5.4596 3.6403 + 4.7050 5.1959 3.9456 4.1825 4.5219 4.4218 5.9065 4.6977 5.7234 3.7673 + 5.0836 4.8858 3.9847 4.0384 4.7148 4.3534 5.9529 4.7441 5.7917 4.1507 + 5.3449 4.7637 4.2191 4.1458 4.9712 4.2240 5.8284 4.6196 5.9065 4.6489 + 5.2740 4.8760 4.5463 4.4315 5.2203 4.0530 5.7917 4.6440 5.9920 4.9908 + 5.1275 5.0420 4.8735 4.5561 5.5329 3.9407 5.7991 4.8320 5.8357 5.0884 + 4.7612 5.2838 5.1544 4.4804 5.6525 3.8381 5.8137 5.1324 5.5280 5.0225 + 4.4511 5.4914 5.3888 4.3754 5.7820 3.7307 5.8772 5.4108 5.1422 4.7832 + 4.2215 5.5964 5.6135 4.3705 5.9554 3.6525 5.9554 5.6257 4.7759 4.6855 + 4.0457 5.6721 5.8357 4.5585 6.0359 3.6110 5.7820 5.6037 4.4902 4.6660 + 3.8748 5.7722 5.8845 4.8589 6.1190 3.5646 5.5182 5.3155 4.2362 4.7075 + 3.7307 5.8308 5.9554 4.8955 6.1336 3.4963 5.1275 4.9615 4.0237 4.9126 + 3.6623 5.9334 5.7624 4.7417 6.1532 3.4621 4.7637 4.6196 3.8870 5.1959 + 3.5768 5.8992 5.4596 4.7441 6.1922 3.4547 4.4926 4.3583 3.7527 5.4157 + 3.5427 5.9358 5.0616 4.8760 6.1434 3.4254 4.2337 4.1556 3.6818 5.6232 + 3.4792 5.8943 4.7075 5.1055 6.1678 3.3790 4.0115 4.0335 3.8064 5.7405 + 3.4547 5.9187 4.4584 5.2398 5.9920 3.4328 3.8552 3.8870 4.1458 5.8992 + 3.3595 5.9944 4.2679 5.5182 5.6525 3.6232 3.6916 3.7722 4.6000 5.9285 + 3.2985 5.9578 4.0530 5.6525 5.4596 3.9749 3.6355 3.6403 5.0030 6.0506 + 3.2252 6.0311 3.9431 5.7234 5.4376 4.3803 3.8186 3.5329 5.3033 6.1532 + 3.2008 6.0628 3.8259 5.8552 5.3400 4.7148 4.1556 3.4352 5.5524 5.9651 + 3.2252 6.0408 3.9676 5.9627 5.0982 5.0738 4.5903 3.4279 5.6159 5.5866 + 3.2276 6.0970 4.2801 5.9847 4.7856 5.3693 4.9883 3.4230 5.5231 5.3815 + 3.2740 6.1239 4.4804 5.9847 4.4926 5.6037 5.0762 3.3986 5.6110 5.3717 + 3.4572 6.1629 4.4926 6.0555 4.2362 5.7453 4.9077 3.6037 5.7136 5.4865 + 3.8674 6.0408 4.3900 6.0628 4.0677 5.6525 4.6489 4.0237 5.8455 5.5671 + 4.3217 5.8455 4.1971 6.0555 3.9334 5.4010 4.3778 4.4511 5.8992 5.8210 + 4.4926 5.7722 4.1116 6.0701 3.8235 5.0152 4.2166 4.7930 5.9944 5.9138 + 4.4315 5.7991 3.9822 5.7844 3.7307 4.7099 4.2875 4.9029 6.0921 5.9944 + 4.2435 5.9236 3.8674 5.4401 3.6110 4.4169 4.5903 4.7808 6.0921 6.0115 + 4.0506 5.9285 3.7673 5.0567 3.5646 4.2362 4.8467 4.5903 6.1434 5.9993 + 3.8577 6.0018 3.8723 4.9419 3.5500 4.2362 5.1397 4.3363 6.1532 6.0188 + 3.7307 6.0018 4.2362 5.0103 3.5573 4.2484 5.3888 4.1458 6.2337 5.8210 + 3.7917 6.0604 4.6635 5.1348 3.5134 4.2215 5.6892 4.2166 6.1873 5.7282 + 3.9212 5.8821 4.9712 5.3131 3.5158 4.2972 5.8845 4.4340 6.0140 5.7405 + 3.9554 5.5109 5.0665 5.4792 3.6941 4.5903 6.0433 4.7148 5.8357 5.7649 + 3.8479 5.3229 4.9029 5.6232 4.0726 4.8931 6.1703 5.0982 5.7746 5.8821 + 3.7258 5.3717 4.6757 5.5622 4.4804 5.1348 6.2118 5.3595 5.6867 5.9260 + 3.6110 5.4547 4.3925 5.3302 4.7050 5.4279 6.2508 5.5695 5.5378 5.7502 + 3.7160 5.4376 4.0994 5.0103 4.6123 5.3790 6.2093 5.7722 5.3278 5.4157 + 4.0921 5.1593 4.1141 4.6660 4.3851 5.3644 6.0140 5.9212 5.0543 4.9956 + 4.4804 4.9029 4.3265 4.4145 4.2020 5.4523 5.7014 6.0555 4.7002 4.8613 + 4.8149 4.5878 4.6440 4.2020 4.0262 5.5671 5.4694 5.9627 4.3949 4.9029 + 5.0543 4.5024 4.9712 4.0482 3.9041 5.6721 5.4792 5.6428 4.1800 5.1031 + 5.3033 4.5952 5.1593 4.0799 3.7746 5.7698 5.5573 5.4352 4.0433 5.3644 + 5.4865 4.8247 5.3888 4.1898 3.6916 5.8308 5.7282 5.3888 3.8772 5.5964 + 5.6721 5.0640 5.5768 4.1312 3.8455 5.9236 5.8821 5.5378 3.7527 5.7527 + 5.7795 5.2716 5.6525 4.0042 4.2020 5.9651 5.9847 5.6818 3.7282 5.8455 + 5.7991 5.4670 5.8039 3.9163 4.5854 6.0579 5.9016 5.7014 3.8699 5.9285 + 5.6648 5.6159 5.9138 3.9602 4.9029 6.0506 5.5817 5.6159 4.2069 6.0066 + 5.2911 5.5280 5.8870 4.1996 5.2569 6.0726 5.3717 5.6672 4.3558 5.8406 + 4.8809 5.2545 5.7991 4.6245 5.5109 6.1116 5.4181 5.7405 4.4267 5.5182 + 4.5585 4.8833 5.7307 4.8833 5.6403 6.0701 5.5109 5.8039 4.4535 5.1739 + 4.1849 4.5170 5.7624 5.1373 5.8430 5.8967 5.6672 5.8821 4.5219 4.7392 + 3.8894 4.1971 5.8137 5.3790 5.9749 5.7551 5.7917 5.9505 4.3925 4.4584 + 3.7087 4.0018 5.8210 5.6232 5.9358 5.7185 5.6989 6.0726 4.1556 4.4267 + 3.6232 3.8064 5.9285 5.7624 5.8210 5.8210 5.4840 6.1483 3.9651 4.6025 + 3.5695 3.9041 6.0140 5.8333 5.5280 6.0018 5.1544 6.1165 3.8772 4.8223 + 3.7185 3.9236 5.7649 5.6867 5.1715 6.0018 4.9810 6.1776 3.9700 5.1837 + 4.0335 3.8699 5.4132 5.3668 4.8101 5.9016 5.0616 6.2020 4.2582 5.4303 + 4.4120 3.8064 5.0982 5.2252 4.4535 5.5573 5.1959 6.2069 4.4218 5.6525 + 4.6293 3.7209 4.6782 5.2398 4.3803 5.1739 5.3595 5.9920 4.3363 5.8210 + 4.5585 3.8186 4.3729 5.3546 4.5659 4.8003 5.6159 5.5646 4.2997 5.7063 + 4.3949 4.1409 4.3925 5.5085 4.8052 4.4315 5.7624 5.1788 4.3925 5.3693 + 4.1800 4.5292 4.5903 5.5964 5.1251 4.1947 5.8577 4.9981 4.6757 5.0274 + 4.1971 4.8052 4.9199 5.7527 5.3546 4.0066 5.9480 5.0518 4.7612 4.7050 + 4.4315 5.0860 5.0176 5.8748 5.5891 3.8503 5.8357 5.2325 4.6587 4.4145 + 4.7148 5.3400 4.8589 5.9065 5.7649 3.7478 5.7063 5.4840 4.4902 4.1458 + 4.9615 5.5329 4.6757 5.8943 5.9236 3.6428 5.4987 5.6867 4.3070 3.9651 + 5.3009 5.5768 4.6196 5.7429 5.9407 3.5915 5.1886 5.8992 4.1263 4.0335 + 5.5671 5.6672 4.8345 5.4474 5.8577 3.5695 5.1177 5.8699 3.9724 4.3729 + 5.6818 5.7917 5.0909 5.0250 5.6941 3.5280 5.1910 5.9773 4.0775 4.6831 ](:); - z_e = [ 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 - -0.6108 0.0000 0.7917 0.0000 0.0000 0.0000 0.0000 - 0.4887 0.0000 0.3770 -0.5345 0.1874 0.5461 0.0000 - 0.0000 0.0000 0.0000 0.0000 -0.4107 0.1410 0.9008 - 0.6108 0.0000 0.4713 0.2673 -0.1874 -0.5461 0.0000 - -0.1222 0.0000 -0.0943 -0.8018 -0.1874 -0.5461 0.0000 - 0.0000 0.0000 0.0000 0.0000 -0.8520 0.2924 -0.4342 ]; -***** assert <45008> (ac, ac_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (ac,ac_e,1e-4) - Location | Observed | Expected | Reason - (3,4) -0.37796 0.378 Abs err 0.75596 exceeds tol 0.0001 by 0.8 - (1,5) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 - (2,5) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (3,5) 0.096625 -0.2651 Abs err 0.36172 exceeds tol 0.0001 by 0.4 - (4,5) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (5,5) 1.6572 -1.554 Abs err 3.2112 exceeds tol 0.0001 by 3 - (6,5) -0.59595 -0.6533 Abs err 0.057353 exceeds tol 0.0001 by 0.06 - (7,5) 0.47386 -0.5892 Abs err 1.0631 exceeds tol 0.0001 by 1 - (1,6) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 - (2,6) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (3,6) 0.23131 -0.7723 Abs err 1.0036 exceeds tol 0.0001 by 1 - (4,6) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (5,6) 0.63317 0.5334 Abs err 0.099775 exceeds tol 0.0001 by 0.1 - (6,6) -0.2277 0.2242 Abs err 0.4519 exceeds tol 0.0001 by 0.5 - (7,6) 0.18105 0.2022 Abs err 0.021146 exceeds tol 0.0001 by 0.02 - (1,7) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 - (2,7) -4.996e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (3,7) -0.77706 0 Abs err 0.77706 exceeds tol 0.0001 by 0.8 - (4,7) 1.572e-15 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (5,7) 0.39454 0.5742 Abs err 0.17966 exceeds tol 0.0001 by 0.2 - (6,7) -0.14188 0.2414 Abs err 0.38328 exceeds tol 0.0001 by 0.4 - (7,7) 0.11282 0.2177 Abs err 0.10488 exceeds tol 0.0001 by 0.1 -shared variables - ac = + U = [ 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 + 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 + 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 + 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 + 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 + 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 + 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 + 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 + 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 + 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 + 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 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-1.0197 0.1313 - 0 0 0 0 0 0 1.1969 + [SYS, X0, INFO] = moen4 (DAT, "s", 15, "rcond", 0.0, "tol", -1.0, "confirm", false); - bc = + Ae = [ 0.8924 0.3887 0.1285 0.1716 + -0.0837 0.6186 -0.6273 -0.4582 + 0.0052 0.1307 0.6685 -0.6755 + 0.0055 0.0734 -0.2148 0.4788 ]; - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 + Ce = [ -0.4442 0.6663 0.3961 0.4102 ]; - cc = + Be = [ -0.2142 + -0.1968 + 0.0525 + 0.0361 ]; - Columns 1 through 5: + De = [ -0.0041 ]; - -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 - 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 + Ke = [ -1.9513 + -0.1867 + 0.6348 + -0.3486 ]; - Columns 6 and 7: + Qe = [ 0.0052 0.0005 -0.0017 0.0009 + 0.0005 0.0000 -0.0002 0.0001 + -0.0017 -0.0002 0.0006 -0.0003 + 0.0009 0.0001 -0.0003 0.0002 ]; - -4.9272e-01 -3.0702e-01 - 1.6356e-01 -5.4947e-01 + Rye = [ 0.0012 ]; - q = + Se = [ -0.0025 + -0.0002 + 0.0008 + -0.0005 ]; - 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 - 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 - 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 - 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 - 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 - 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 - 1.0000 0 0 0 0 0 0 + X0e = [ -11.496422 + -0.718576 + -0.014211 + 0.500073 ]; # X0e is not from SLICOT - z = + ## The SLICOT test for IB01CD uses COMUSE=C, not COMUSE=U. + ## This means that they don't use the matrices B and D + ## computed by IB01BD. They use only A and C from IB01BD, + ## while B and D are from SLICOT routine IB01CD. + ## Therefore they get slightly different matrices B and D + ## and finally a different initial state vector X0. - 0.0000 1.0000 0 0 0 0 0 - -0.6108 0.0000 -0.7917 0.0000 0 0 0 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 - 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 - -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 - -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 +***** assert (SYS.A, Ae, 1e-4); +***** assert (SYS.B, Be, 1e-4); +***** assert (SYS.C, Ce, 1e-4); +***** assert (SYS.D, De, 1e-4); +***** assert (INFO.K, Ke, 1e-4); +***** assert (INFO.Q, Qe, 1e-4); +***** assert (INFO.Ry, Rye, 1e-4); +***** assert (INFO.S, Se, 1e-4); +***** assert (X0, X0e, 1e-4); +***** shared SYS, Ae, Be, Ce, De + U = [ -811 -592 421 -680 -681 + -812 -619 477 -685 -651 + -817 -565 538 -678 -677 + -695 -725 536 -674 -702 + -697 -571 531 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0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 - 0 0 1.7862 0.3780 -0.2651 -0.7723 0 - 0 0 0 3.7417 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.5540 0.5334 0.5742 - 0 0 0 0 -0.6533 0.2242 0.2414 - 0 0 0 0 -0.5892 0.2022 0.2177 + Y = [ 117 129 -47 + 113 141 -42 + 83 150 -37 + 144 174 -3 + 156 196 19 + 174 192 6 + 171 193 3 + 169 224 14 + 155 211 14 + 137 175 4 + 130 165 13 + 145 172 21 + 128 173 30 + 119 194 30 + 127 188 11 + 147 176 5 + 162 183 19 + 173 178 14 + 131 161 4 + 112 139 -11 + 91 133 -10 + 75 127 -7 + 80 115 -10 + 87 132 6 + 51 151 6 + 28 167 3 + 22 167 -3 + 9 171 4 + 7 158 6 + -11 155 5 + -87 149 -8 + -153 146 -12 + -184 116 -20 + -167 118 8 + -563 78 -4 + -694 -3 -155 + -1000 -39 -168 + -1101 -28 -135 + -1080 55 6 + -1075 162 89 + -1035 254 117 + -894 329 148 + -747 409 218 + -774 416 231 + -781 361 189 + -825 288 171 + -897 220 166 + -960 175 169 + -994 157 196 + -1009 202 237 + -1003 267 258 + -981 326 267 + -947 361 276 + -921 369 280 + -894 369 292 + -876 359 302 + -869 356 318 + 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-136 + 396 12 -148 + 390 -22 -189 + 377 -47 -211 + 366 -54 -227 + 331 -52 -240 + 227 -74 -289 + 168 -117 -355 + 149 -104 -357 + 10 -101 -344 + -77 -115 -374 + -116 -88 -330 + -106 -53 -223 + -82 -4 -98 + -99 5 -40 + -89 22 3 + -79 34 26 + -74 34 42 + -101 28 61 + -102 28 73 + -124 22 74 + -125 19 90 + -132 9 100 + -167 8 102 + -161 7 90 + -185 19 105 + -207 29 110 + -295 24 159 + -361 17 293 + -411 12 436 + -401 48 540 + -441 86 601 + -475 118 553 + -448 146 472 + -401 172 428 + -366 197 400 + -304 231 391 + -252 253 387 + -183 261 399 + -123 255 405 + -107 247 397 + -76 228 392 + -71 205 389 + -66 192 381 + -92 171 371 + -40 178 356 + -15 185 353 + -27 170 359 + 15 173 351 + 23 175 356 + 44 178 338 + 47 171 323 + 4 153 294 + 23 141 295 + 39 141 306 + 52 139 313 + 53 142 313 + 69 142 312 + 74 136 306 + 196 164 277 + 347 208 133 + 461 230 -58 + 526 204 -251 + 581 161 -385 + 588 119 -458 + 549 63 -528 + 497 5 -550 + 420 -20 -498 + 327 -49 -464 + 198 -78 -438 + 154 -80 -409 + 130 -60 -377 ]; - ec_e = + DAT = iddata (Y, U, 1228.8); - -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 - 0 0 0 0 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.0260 -0.1496 0 - 0 0 0 0 0 1.1937 0 - 0 0 0 0 0 0 1.0000 + [SYS, X0] = moen4 (DAT, "s", 10, "n", 8, "rcond", 0.0, "tol", -1.0); - bc_e = + Ae = [ 0.9811 0.0574 0.3270 0.0003 0.0358 0.0403 -0.1366 0.0276 + 0.1043 0.7634 -0.1308 0.2252 0.0203 -0.0117 -0.2328 -0.2516 + -0.0612 0.1437 0.8378 -0.2400 0.0367 -0.3205 -0.0367 -0.0978 + -0.0213 0.0149 0.0706 0.8902 0.2415 -0.1329 0.3080 -0.0143 + -0.0076 0.0680 0.0557 -0.0469 0.7084 0.2852 0.2565 0.1508 + -0.0016 0.0603 0.0071 -0.0448 -0.0870 0.8608 0.1495 -0.1148 + 0.0046 0.0120 0.0040 -0.0272 0.0117 -0.0654 0.8348 -0.4557 + -0.0058 0.0133 -0.0112 -0.0171 -0.0353 -0.0892 0.3328 0.7650 ]; - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 + Ce = [ -0.1635 0.6294 0.1157 -0.2129 0.0812 -0.0238 0.0745 0.2027 + 0.1775 0.1736 -0.2839 -0.0750 -0.4986 -0.1254 0.3740 0.1598 + 0.2012 -0.0045 -0.4447 -0.3289 0.4767 -0.3377 0.0200 -0.0978 ]; - cc_e = + Be = [ -0.0436 0.1911 -0.1345 0.0409 0.2828 + 0.5541 -0.4223 0.0001 -0.0151 -0.1778 + -0.3644 0.2868 0.0754 -0.0457 -0.1691 + -0.0372 0.1270 -0.0772 -0.0714 -0.0255 + -0.1251 -0.0021 0.1094 0.0576 0.2121 + -0.1372 0.1139 0.0030 0.0141 0.0493 + -0.0187 0.0712 -0.0042 0.0075 -0.0221 + -0.0834 0.0509 0.0322 -0.0089 0.0009 ]; - 0 1.0000 0 0 -1.2627 0.4334 0.4666 - 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 + De = [ 0.1581 -0.3111 -0.0350 0.0179 -0.1403 + -0.0037 -0.0461 -0.1177 0.0092 -0.0242 + 0.0476 -0.0237 -0.0159 0.0174 0.0464 ]; - q_e = + # Since moen4 identifies the input/output behavior only + # input/output behavior is tested using n first Markov parameters. + # The state space representaton might have different signs + # of the states. + # By multiplying the matrices for the Markov parameters, numeric errors + # would propagate, therefor the accuracy of the results are limited to + # the accuracy of the given expected results - 0 1.0000 0 0 0 0 0 - 0 0 0.7071 0 0.2740 -0.6519 0 - 0 0 0 0 0.8304 0.3491 -0.4342 - 0 0 0 -1.0000 0 0 0 - 0 0 0 0 0.4003 0.1683 0.9008 - 0 0 0.7071 0 -0.2740 0.6519 0 - 1.0000 0 0 0 0 0 0 + [Ao,Bo,Co,Do] = ssdata (SYS); + Ao = round (Ao*1e4)/1e4; + Bo = round (Bo*1e4)/1e4; + Co = round (Co*1e4)/1e4; + Do = round (Do*1e4)/1e4; - z_e = - - 0 1.0000 0 0 0 0 0 - -0.6108 0 0.7917 0 0 0 0 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - 0 0 0 0 -0.4107 0.1410 0.9008 - 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 - -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 - 0 0 0 0 -0.8520 0.2924 -0.4342 - - ncont_e = 3 -***** assert <45008> (ec, ec_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (ec,ec_e,1e-4) - - Location | Observed | Expected | Reason - (3,1) 0.17277 -0.1728 Abs err 0.34557 exceeds tol 0.0001 by 0.3 - (1,3) -2.3752 2.3752 Abs err 4.7504 exceeds tol 0.0001 by 5 - (2,3) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 - (3,4) 1.1339 -1.1339 Abs err 2.2678 exceeds tol 0.0001 by 2 - (1,5) -0.73367 -0.8214 Abs err 0.087735 exceeds tol 0.0001 by 0.09 - (2,5) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (3,5) -0.048312 0.1325 Abs err 0.18081 exceeds tol 0.0001 by 0.2 - (4,5) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (5,5) 1.0035 -1.026 Abs err 2.0295 exceeds tol 0.0001 by 2 - (1,6) -1.7563 0.2819 Abs err 2.0382 exceeds tol 0.0001 by 2 - (2,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (3,6) -0.11566 0.3861 Abs err 0.50176 exceeds tol 0.0001 by 0.5 - (4,6) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (5,6) 0.016704 -0.1496 Abs err 0.1663 exceeds tol 0.0001 by 0.2 - (6,6) -1.0197 1.1937 Abs err 2.2134 exceeds tol 0.0001 by 2 - (1,7) -0.61404 1.8016 Abs err 2.4156 exceeds tol 0.0001 by 2 - (2,7) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (3,7) 0.38853 0 Abs err 0.38853 exceeds tol 0.0001 by 0.4 - (4,7) -4.5292e-16 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (5,7) -0.056116 0 Abs err 0.056116 exceeds tol 0.0001 by 0.06 - (6,7) 0.13128 0 Abs err 0.13128 exceeds tol 0.0001 by 0.1 - (7,7) 1.1969 1 Abs err 0.19687 exceeds tol 0.0001 by 0.2 -shared variables - ac = - - -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 - 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 - 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 - 0 0 0 3.7417 0.9227 -0.3854 0.0000 - 0 0 0 -0.0000 1.6572 0.6332 0.3945 - 0 0 0 0 -0.5959 -0.2277 -0.1419 - 0 0 0 0 0.4739 0.1811 0.1128 - - ec = - - -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 - 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 - 0 0 0 0 1.0035 0.0167 -0.0561 - 0 0 0 0 0 -1.0197 0.1313 - 0 0 0 0 0 0 1.1969 - - bc = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc = - - Columns 1 through 5: - - -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 - 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 - - Columns 6 and 7: - - -4.9272e-01 -3.0702e-01 - 1.6356e-01 -5.4947e-01 - - q = - - 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 - 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 - 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 - 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 - 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 - 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 - 1.0000 0 0 0 0 0 0 - - z = - - 0.0000 1.0000 0 0 0 0 0 - -0.6108 0.0000 -0.7917 0.0000 0 0 0 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 - 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 - -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 - -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 - - ncont = 3 - ac_e = - - 0 0 0 0 -1.2627 0.4334 0.4666 - 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 - 0 0 1.7862 0.3780 -0.2651 -0.7723 0 - 0 0 0 3.7417 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.5540 0.5334 0.5742 - 0 0 0 0 -0.6533 0.2242 0.2414 - 0 0 0 0 -0.5892 0.2022 0.2177 - - ec_e = - - -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 - 0 0 0 0 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.0260 -0.1496 0 - 0 0 0 0 0 1.1937 0 - 0 0 0 0 0 0 1.0000 - - bc_e = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc_e = - - 0 1.0000 0 0 -1.2627 0.4334 0.4666 - 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 - - q_e = - - 0 1.0000 0 0 0 0 0 - 0 0 0.7071 0 0.2740 -0.6519 0 - 0 0 0 0 0.8304 0.3491 -0.4342 - 0 0 0 -1.0000 0 0 0 - 0 0 0 0 0.4003 0.1683 0.9008 - 0 0 0.7071 0 -0.2740 0.6519 0 - 1.0000 0 0 0 0 0 0 - - z_e = - - 0 1.0000 0 0 0 0 0 - -0.6108 0 0.7917 0 0 0 0 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - 0 0 0 0 -0.4107 0.1410 0.9008 - 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 - -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 - 0 0 0 0 -0.8520 0.2924 -0.4342 - - ncont_e = 3 -***** assert <45008> (bc, bc_e, 1e-4); -***** assert <45008> (cc, cc_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (cc,cc_e,1e-4) - - Location | Observed | Expected | Reason - (2,3) 0.98026 -0.9803 Abs err 1.9606 exceeds tol 0.0001 by 2 - (1,5) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 - (2,5) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (1,6) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 - (2,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (1,7) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 - (2,7) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 -shared variables - ac = - - -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 - 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 - 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 - 0 0 0 3.7417 0.9227 -0.3854 0.0000 - 0 0 0 -0.0000 1.6572 0.6332 0.3945 - 0 0 0 0 -0.5959 -0.2277 -0.1419 - 0 0 0 0 0.4739 0.1811 0.1128 - - ec = - - -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 - 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 - 0 0 0 0 1.0035 0.0167 -0.0561 - 0 0 0 0 0 -1.0197 0.1313 - 0 0 0 0 0 0 1.1969 - - bc = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc = - - Columns 1 through 5: - - -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 - 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 - - Columns 6 and 7: - - -4.9272e-01 -3.0702e-01 - 1.6356e-01 -5.4947e-01 - - q = - - 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 - 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 - 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 - 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 - 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 - 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 - 1.0000 0 0 0 0 0 0 - - z = - - 0.0000 1.0000 0 0 0 0 0 - -0.6108 0.0000 -0.7917 0.0000 0 0 0 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 - 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 - -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 - -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 - - ncont = 3 - ac_e = - - 0 0 0 0 -1.2627 0.4334 0.4666 - 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 - 0 0 1.7862 0.3780 -0.2651 -0.7723 0 - 0 0 0 3.7417 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.5540 0.5334 0.5742 - 0 0 0 0 -0.6533 0.2242 0.2414 - 0 0 0 0 -0.5892 0.2022 0.2177 - - ec_e = - - -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 - 0 0 0 0 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.0260 -0.1496 0 - 0 0 0 0 0 1.1937 0 - 0 0 0 0 0 0 1.0000 - - bc_e = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc_e = - - 0 1.0000 0 0 -1.2627 0.4334 0.4666 - 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 - - q_e = - - 0 1.0000 0 0 0 0 0 - 0 0 0.7071 0 0.2740 -0.6519 0 - 0 0 0 0 0.8304 0.3491 -0.4342 - 0 0 0 -1.0000 0 0 0 - 0 0 0 0 0.4003 0.1683 0.9008 - 0 0 0.7071 0 -0.2740 0.6519 0 - 1.0000 0 0 0 0 0 0 - - z_e = - - 0 1.0000 0 0 0 0 0 - -0.6108 0 0.7917 0 0 0 0 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - 0 0 0 0 -0.4107 0.1410 0.9008 - 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 - -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 - 0 0 0 0 -0.8520 0.2924 -0.4342 - - ncont_e = 3 -***** assert <45008> (q, q_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (q,q_e,1e-4) - - Location | Observed | Expected | Reason - (2,3) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 - (6,3) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 - (2,5) -0.10213 0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 - (3,5) -0.91952 0.8304 Abs err 1.7499 exceeds tol 0.0001 by 2 - (5,5) -0.36556 0.4003 Abs err 0.76586 exceeds tol 0.0001 by 0.8 - (6,5) 0.10213 -0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 - (2,6) 0.23892 -0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 - (3,6) -0.39305 0.3491 Abs err 0.74215 exceeds tol 0.0001 by 0.7 - (5,6) 0.85519 0.1683 Abs err 0.68689 exceeds tol 0.0001 by 0.7 - (6,6) -0.23892 0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 - (2,7) 0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 - (3,7) -1.143e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (5,7) -0.36746 0.9008 Abs err 1.2683 exceeds tol 0.0001 by 1 - (6,7) -0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 -shared variables - ac = - - -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 - 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 - 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 - 0 0 0 3.7417 0.9227 -0.3854 0.0000 - 0 0 0 -0.0000 1.6572 0.6332 0.3945 - 0 0 0 0 -0.5959 -0.2277 -0.1419 - 0 0 0 0 0.4739 0.1811 0.1128 - - ec = - - -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 - 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 - 0 0 0 0 1.0035 0.0167 -0.0561 - 0 0 0 0 0 -1.0197 0.1313 - 0 0 0 0 0 0 1.1969 - - bc = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc = - - Columns 1 through 5: - - -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 - 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 - - Columns 6 and 7: - - -4.9272e-01 -3.0702e-01 - 1.6356e-01 -5.4947e-01 - - q = - - 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 - 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 - 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 - 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 - 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 - 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 - 1.0000 0 0 0 0 0 0 - - z = - - 0.0000 1.0000 0 0 0 0 0 - -0.6108 0.0000 -0.7917 0.0000 0 0 0 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 - 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 - -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 - -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 - - ncont = 3 - ac_e = - - 0 0 0 0 -1.2627 0.4334 0.4666 - 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 - 0 0 1.7862 0.3780 -0.2651 -0.7723 0 - 0 0 0 3.7417 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.5540 0.5334 0.5742 - 0 0 0 0 -0.6533 0.2242 0.2414 - 0 0 0 0 -0.5892 0.2022 0.2177 - - ec_e = - - -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 - 0 0 0 0 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.0260 -0.1496 0 - 0 0 0 0 0 1.1937 0 - 0 0 0 0 0 0 1.0000 - - bc_e = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc_e = - - 0 1.0000 0 0 -1.2627 0.4334 0.4666 - 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 - - q_e = - - 0 1.0000 0 0 0 0 0 - 0 0 0.7071 0 0.2740 -0.6519 0 - 0 0 0 0 0.8304 0.3491 -0.4342 - 0 0 0 -1.0000 0 0 0 - 0 0 0 0 0.4003 0.1683 0.9008 - 0 0 0.7071 0 -0.2740 0.6519 0 - 1.0000 0 0 0 0 0 0 - - z_e = - - 0 1.0000 0 0 0 0 0 - -0.6108 0 0.7917 0 0 0 0 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - 0 0 0 0 -0.4107 0.1410 0.9008 - 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 - -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 - 0 0 0 0 -0.8520 0.2924 -0.4342 - - ncont_e = 3 -***** assert <45008> (z, z_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (z,z_e,1e-4) - - Location | Observed | Expected | Reason - (2,3) -0.79175 0.7917 Abs err 1.5834 exceeds tol 0.0001 by 2 - (3,3) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 - (5,3) -0.47128 0.4713 Abs err 0.94258 exceeds tol 0.0001 by 0.9 - (6,3) 0.094256 -0.0943 Abs err 0.18856 exceeds tol 0.0001 by 0.2 - (3,5) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (4,5) -0.36683 -0.4107 Abs err 0.043867 exceeds tol 0.0001 by 0.04 - (5,5) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (6,5) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (7,5) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (3,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (4,6) -0.87816 0.141 Abs err 1.0192 exceeds tol 0.0001 by 1 - (5,6) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (6,6) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (7,6) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (3,7) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (4,7) -0.30702 0.9008 Abs err 1.2078 exceeds tol 0.0001 by 1 - (5,7) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (6,7) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (7,7) -6.6466e-17 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 -shared variables - ac = - - -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 - 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 - 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 - 0 0 0 3.7417 0.9227 -0.3854 0.0000 - 0 0 0 -0.0000 1.6572 0.6332 0.3945 - 0 0 0 0 -0.5959 -0.2277 -0.1419 - 0 0 0 0 0.4739 0.1811 0.1128 - - ec = - - -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 - 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 - 0 0 0 0 1.0035 0.0167 -0.0561 - 0 0 0 0 0 -1.0197 0.1313 - 0 0 0 0 0 0 1.1969 - - bc = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc = - - Columns 1 through 5: - - -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 - 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 - - Columns 6 and 7: - - -4.9272e-01 -3.0702e-01 - 1.6356e-01 -5.4947e-01 - - q = - - 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 - 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 - 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 - 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 - 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 - 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 - 1.0000 0 0 0 0 0 0 - - z = - - 0.0000 1.0000 0 0 0 0 0 - -0.6108 0.0000 -0.7917 0.0000 0 0 0 - 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 - 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 - 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 - -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 - -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 - - ncont = 3 - ac_e = - - 0 0 0 0 -1.2627 0.4334 0.4666 - 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 - 0 0 1.7862 0.3780 -0.2651 -0.7723 0 - 0 0 0 3.7417 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.5540 0.5334 0.5742 - 0 0 0 0 -0.6533 0.2242 0.2414 - 0 0 0 0 -0.5892 0.2022 0.2177 - - ec_e = - - -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 - 0 0 0 0 0.8520 -0.2924 0.4342 - 0 0 0 0 -1.0260 -0.1496 0 - 0 0 0 0 0 1.1937 0 - 0 0 0 0 0 0 1.0000 - - bc_e = - - 1 2 3 - 2 1 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - 0 0 0 - - cc_e = - - 0 1.0000 0 0 -1.2627 0.4334 0.4666 - 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 - - q_e = - - 0 1.0000 0 0 0 0 0 - 0 0 0.7071 0 0.2740 -0.6519 0 - 0 0 0 0 0.8304 0.3491 -0.4342 - 0 0 0 -1.0000 0 0 0 - 0 0 0 0 0.4003 0.1683 0.9008 - 0 0 0.7071 0 -0.2740 0.6519 0 - 1.0000 0 0 0 0 0 0 - - z_e = - - 0 1.0000 0 0 0 0 0 - -0.6108 0 0.7917 0 0 0 0 - 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 - 0 0 0 0 -0.4107 0.1410 0.9008 - 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 - -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 - 0 0 0 0 -0.8520 0.2924 -0.4342 - - ncont_e = 3 -***** assert (ncont, ncont_e); -***** shared ao, eo, bo, co, q, z, nobsv, ao_e, eo_e, bo_e, co_e, q_e, z_e, nobsv_e - - a = [ 2 0 0 0 0 0 0 - 0 1 0 0 0 1 0 - 2 0 0 2 0 0 0 - 0 0 1 0 1 0 1 - -1 1 0 -1 0 1 0 - 3 0 0 3 0 0 0 - 1 0 1 1 1 0 1 ]; - - e = [ 0 0 0 0 0 0 1 - 0 0 0 0 0 0 3 - 1 0 0 0 0 1 0 - 0 0 0 0 1 0 2 - 0 0 0 0 0 -1 0 - 0 1 0 0 0 0 0 - 0 0 1 1 0 0 0 ]; - - b = [ 1 0 - 0 -1 - 0 1 - 1 0 - 0 -1 - 0 1 - 1 0 ]; - - c = [ 2 0 0 0 0 0 1 - 1 0 0 0 0 0 2 - 0 0 0 0 0 0 3 ]; - - tol = 0; - - [ao, eo, bo, co, q, z, nobsv] = __sl_tg01id__ (a, e, b, c, tol); - - nobsv_e = 3; - - ao_e = [ 0.2177 0.2414 0.5742 0.4342 0.0000 -0.4342 0.4666 - 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 - -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 - 0.0000 0.0000 0.0000 3.7417 0.3780 -3.7417 0.0000 - 0.0000 0.0000 0.0000 0.0000 1.7862 0.0000 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 ]; - - eo_e = [ 1.0000 0.0000 0.0000 0.4342 0.0000 0.0000 1.8016 - 0.0000 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 - 0.0000 0.0000 -1.0260 0.8520 0.1325 0.1874 -0.8214 - 0.0000 0.0000 0.0000 0.0000 -1.1339 -0.5345 0.0000 - 0.0000 0.0000 0.0000 0.0000 -0.1333 0.3770 2.3752 - 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 - 0.0000 0.0000 0.0000 0.0000 -0.1728 0.4887 -1.8325 ]; - - bo_e = [ 0.4666 0.0000 - 0.4334 0.5461 - -1.2627 0.1874 - 0.0000 -1.6036 - 0.0000 -0.9803 - 1.0000 0.0000 - 0.0000 0.3665 ]; - - co_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 1.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 2.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 3.0000 ]; - - q_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.7917 0.0000 -0.6108 - 0.0000 0.5461 0.1874 -0.5345 0.3770 0.0000 0.4887 - 0.9008 0.1410 -0.4107 0.0000 0.0000 0.0000 0.0000 - 0.0000 -0.5461 -0.1874 0.2673 0.4713 0.0000 0.6108 - 0.0000 -0.5461 -0.1874 -0.8018 -0.0943 0.0000 -0.1222 - -0.4342 0.2924 -0.8520 0.0000 0.0000 0.0000 0.0000 ]; - - z_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 - 0.0000 -0.6519 0.2740 0.0000 0.7071 0.0000 0.0000 - -0.4342 0.3491 0.8304 0.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 - 0.9008 0.1683 0.4003 0.0000 0.0000 0.0000 0.0000 - 0.0000 0.6519 -0.2740 0.0000 0.7071 0.0000 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ]; - -***** assert <45008> (ao, ao_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (ao,ao_e,1e-4) - - Location | Observed | Expected | Reason - (1,1) 0.11282 0.2177 Abs err 0.10488 exceeds tol 0.0001 by 0.1 - (2,1) 0.18105 0.2022 Abs err 0.021146 exceeds tol 0.0001 by 0.02 - (3,1) 0.47386 -0.5892 Abs err 1.0631 exceeds tol 0.0001 by 1 - (1,2) -0.14188 0.2414 Abs err 0.38328 exceeds tol 0.0001 by 0.4 - (2,2) -0.2277 0.2242 Abs err 0.4519 exceeds tol 0.0001 by 0.5 - (3,2) -0.59595 -0.6533 Abs err 0.057353 exceeds tol 0.0001 by 0.06 - (1,3) 0.39454 0.5742 Abs err 0.17966 exceeds tol 0.0001 by 0.2 - (2,3) 0.63317 0.5334 Abs err 0.099775 exceeds tol 0.0001 by 0.1 - (3,3) 1.6572 -1.554 Abs err 3.2112 exceeds tol 0.0001 by 3 - (1,4) 1.572e-15 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (2,4) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (3,4) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (1,5) -0.77706 0 Abs err 0.77706 exceeds tol 0.0001 by 0.8 - (2,5) 0.23131 -0.7723 Abs err 1.0036 exceeds tol 0.0001 by 1 - (3,5) 0.096625 -0.2651 Abs err 0.36172 exceeds tol 0.0001 by 0.4 - (4,5) -0.37796 0.378 Abs err 0.75596 exceeds tol 0.0001 by 0.8 - (1,6) -4.996e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (2,6) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (3,6) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (1,7) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 - (2,7) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 - (3,7) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 -shared variables - ao = - - 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 - 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 - 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 - 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 - 0 0 0 0 1.7862 -0.0000 0.0000 - 0 0 0 0 0 2.0000 0.0000 - 0 0 0 0 0 0 -0.0000 - - eo = - - 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 - 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 - 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 - 0 0 0 -0.0000 1.1339 -0.5345 0.0000 - 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 - 0 0 0 0 -0.0000 -0.0000 1.0000 - 0 0 0 0 0.1728 0.4887 -1.8325 - - bo = - - -3.0702e-01 -5.4947e-01 - -4.9272e-01 1.6356e-01 - -1.2896e+00 6.8324e-02 - 1.7834e-16 -1.6036e+00 - 9.9893e-17 9.8026e-01 - 1.0000e+00 -1.7636e-48 - -1.2948e-16 3.6651e-01 - - co = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q = - - 0 0 0 0 0 1.0000 0.0000 - 0 0 0 0.0000 -0.7917 0.0000 -0.6108 - -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 - -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 - 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 - 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 - -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 - - z = - - 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 - 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 - -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 - 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 - -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 - -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 - 0 0 0 0 0 0 1.0000 - - nobsv = 3 - ao_e = - - 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 - 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 - -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 - 0 0 0 3.7417 0.3780 -3.7417 0 - 0 0 0 0 1.7862 0 0 - 0 0 0 0 0 2.0000 0 - 0 0 0 0 0 0 0 - - eo_e = - - 1.0000 0 0 0.4342 0 0 1.8016 - 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 - 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 - 0 0 0 0 -1.1339 -0.5345 0 - 0 0 0 0 -0.1333 0.3770 2.3752 - 0 0 0 0 0 0 1.0000 - 0 0 0 0 -0.1728 0.4887 -1.8325 - - bo_e = - - 0.4666 0 - 0.4334 0.5461 - -1.2627 0.1874 - 0 -1.6036 - 0 -0.9803 - 1.0000 0 - 0 0.3665 - - co_e = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q_e = - - 0 0 0 0 0 1.0000 0 - 0 0 0 0 0.7917 0 -0.6108 - 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 - 0.9008 0.1410 -0.4107 0 0 0 0 - 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 - 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 - -0.4342 0.2924 -0.8520 0 0 0 0 - - z_e = - - 0 0 0 0 0 1.0000 0 - 0 -0.6519 0.2740 0 0.7071 0 0 - -0.4342 0.3491 0.8304 0 0 0 0 - 0 0 0 -1.0000 0 0 0 - 0.9008 0.1683 0.4003 0 0 0 0 - 0 0.6519 -0.2740 0 0.7071 0 0 - 0 0 0 0 0 0 1.0000 - - nobsv_e = 3 -***** assert <45008> (eo, eo_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (eo,eo_e,1e-4) - - Location | Observed | Expected | Reason - (1,1) 1.1969 1 Abs err 0.19687 exceeds tol 0.0001 by 0.2 - (1,2) 0.13128 0 Abs err 0.13128 exceeds tol 0.0001 by 0.1 - (2,2) -1.0197 1.1937 Abs err 2.2134 exceeds tol 0.0001 by 2 - (1,3) -0.056116 0 Abs err 0.056116 exceeds tol 0.0001 by 0.06 - (2,3) 0.016704 -0.1496 Abs err 0.1663 exceeds tol 0.0001 by 0.2 - (3,3) 1.0035 -1.026 Abs err 2.0295 exceeds tol 0.0001 by 2 - (1,4) -4.5292e-16 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (2,4) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (3,4) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (1,5) 0.38853 0 Abs err 0.38853 exceeds tol 0.0001 by 0.4 - (2,5) -0.11566 0.3861 Abs err 0.50176 exceeds tol 0.0001 by 0.5 - (3,5) -0.048312 0.1325 Abs err 0.18081 exceeds tol 0.0001 by 0.2 - (4,5) 1.1339 -1.1339 Abs err 2.2678 exceeds tol 0.0001 by 2 - (7,5) 0.17277 -0.1728 Abs err 0.34557 exceeds tol 0.0001 by 0.3 - (1,6) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (2,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (3,6) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (5,6) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 - (1,7) -0.61404 1.8016 Abs err 2.4156 exceeds tol 0.0001 by 2 - (2,7) -1.7563 0.2819 Abs err 2.0382 exceeds tol 0.0001 by 2 - (3,7) -0.73367 -0.8214 Abs err 0.087735 exceeds tol 0.0001 by 0.09 - (5,7) -2.3752 2.3752 Abs err 4.7504 exceeds tol 0.0001 by 5 -shared variables - ao = - - 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 - 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 - 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 - 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 - 0 0 0 0 1.7862 -0.0000 0.0000 - 0 0 0 0 0 2.0000 0.0000 - 0 0 0 0 0 0 -0.0000 - - eo = - - 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 - 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 - 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 - 0 0 0 -0.0000 1.1339 -0.5345 0.0000 - 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 - 0 0 0 0 -0.0000 -0.0000 1.0000 - 0 0 0 0 0.1728 0.4887 -1.8325 - - bo = - - -3.0702e-01 -5.4947e-01 - -4.9272e-01 1.6356e-01 - -1.2896e+00 6.8324e-02 - 1.7834e-16 -1.6036e+00 - 9.9893e-17 9.8026e-01 - 1.0000e+00 -1.7636e-48 - -1.2948e-16 3.6651e-01 - - co = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q = - - 0 0 0 0 0 1.0000 0.0000 - 0 0 0 0.0000 -0.7917 0.0000 -0.6108 - -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 - -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 - 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 - 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 - -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 - - z = - - 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 - 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 - -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 - 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 - -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 - -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 - 0 0 0 0 0 0 1.0000 - - nobsv = 3 - ao_e = - - 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 - 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 - -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 - 0 0 0 3.7417 0.3780 -3.7417 0 - 0 0 0 0 1.7862 0 0 - 0 0 0 0 0 2.0000 0 - 0 0 0 0 0 0 0 - - eo_e = - - 1.0000 0 0 0.4342 0 0 1.8016 - 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 - 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 - 0 0 0 0 -1.1339 -0.5345 0 - 0 0 0 0 -0.1333 0.3770 2.3752 - 0 0 0 0 0 0 1.0000 - 0 0 0 0 -0.1728 0.4887 -1.8325 - - bo_e = - - 0.4666 0 - 0.4334 0.5461 - -1.2627 0.1874 - 0 -1.6036 - 0 -0.9803 - 1.0000 0 - 0 0.3665 - - co_e = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q_e = - - 0 0 0 0 0 1.0000 0 - 0 0 0 0 0.7917 0 -0.6108 - 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 - 0.9008 0.1410 -0.4107 0 0 0 0 - 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 - 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 - -0.4342 0.2924 -0.8520 0 0 0 0 - - z_e = - - 0 0 0 0 0 1.0000 0 - 0 -0.6519 0.2740 0 0.7071 0 0 - -0.4342 0.3491 0.8304 0 0 0 0 - 0 0 0 -1.0000 0 0 0 - 0.9008 0.1683 0.4003 0 0 0 0 - 0 0.6519 -0.2740 0 0.7071 0 0 - 0 0 0 0 0 0 1.0000 - - nobsv_e = 3 -***** assert <45008> (bo, bo_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (bo,bo_e,1e-4) - - Location | Observed | Expected | Reason - (1,1) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 - (2,1) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 - (3,1) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 - (1,2) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (2,2) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (3,2) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (5,2) 0.98026 -0.9803 Abs err 1.9606 exceeds tol 0.0001 by 2 -shared variables - ao = - - 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 - 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 - 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 - 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 - 0 0 0 0 1.7862 -0.0000 0.0000 - 0 0 0 0 0 2.0000 0.0000 - 0 0 0 0 0 0 -0.0000 - - eo = - - 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 - 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 - 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 - 0 0 0 -0.0000 1.1339 -0.5345 0.0000 - 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 - 0 0 0 0 -0.0000 -0.0000 1.0000 - 0 0 0 0 0.1728 0.4887 -1.8325 - - bo = - - -3.0702e-01 -5.4947e-01 - -4.9272e-01 1.6356e-01 - -1.2896e+00 6.8324e-02 - 1.7834e-16 -1.6036e+00 - 9.9893e-17 9.8026e-01 - 1.0000e+00 -1.7636e-48 - -1.2948e-16 3.6651e-01 - - co = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q = - - 0 0 0 0 0 1.0000 0.0000 - 0 0 0 0.0000 -0.7917 0.0000 -0.6108 - -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 - -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 - 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 - 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 - -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 - - z = - - 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 - 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 - -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 - 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 - -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 - -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 - 0 0 0 0 0 0 1.0000 - - nobsv = 3 - ao_e = - - 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 - 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 - -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 - 0 0 0 3.7417 0.3780 -3.7417 0 - 0 0 0 0 1.7862 0 0 - 0 0 0 0 0 2.0000 0 - 0 0 0 0 0 0 0 - - eo_e = - - 1.0000 0 0 0.4342 0 0 1.8016 - 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 - 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 - 0 0 0 0 -1.1339 -0.5345 0 - 0 0 0 0 -0.1333 0.3770 2.3752 - 0 0 0 0 0 0 1.0000 - 0 0 0 0 -0.1728 0.4887 -1.8325 - - bo_e = - - 0.4666 0 - 0.4334 0.5461 - -1.2627 0.1874 - 0 -1.6036 - 0 -0.9803 - 1.0000 0 - 0 0.3665 - - co_e = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q_e = - - 0 0 0 0 0 1.0000 0 - 0 0 0 0 0.7917 0 -0.6108 - 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 - 0.9008 0.1410 -0.4107 0 0 0 0 - 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 - 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 - -0.4342 0.2924 -0.8520 0 0 0 0 - - z_e = - - 0 0 0 0 0 1.0000 0 - 0 -0.6519 0.2740 0 0.7071 0 0 - -0.4342 0.3491 0.8304 0 0 0 0 - 0 0 0 -1.0000 0 0 0 - 0.9008 0.1683 0.4003 0 0 0 0 - 0 0.6519 -0.2740 0 0.7071 0 0 - 0 0 0 0 0 0 1.0000 - - nobsv_e = 3 -***** assert <45008> (co, co_e, 1e-4); -***** assert <45008> (q, q_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (q,q_e,1e-4) - - Location | Observed | Expected | Reason - (3,1) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (4,1) -0.30702 0.9008 Abs err 1.2078 exceeds tol 0.0001 by 1 - (5,1) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (6,1) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 - (7,1) -6.6466e-17 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (3,2) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (4,2) -0.87816 0.141 Abs err 1.0192 exceeds tol 0.0001 by 1 - (5,2) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (6,2) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 - (7,2) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 - (3,3) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (4,3) -0.36683 -0.4107 Abs err 0.043867 exceeds tol 0.0001 by 0.04 - (5,3) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (6,3) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 - (7,3) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 - (2,5) -0.79175 0.7917 Abs err 1.5834 exceeds tol 0.0001 by 2 - (3,5) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 - (5,5) -0.47128 0.4713 Abs err 0.94258 exceeds tol 0.0001 by 0.9 - (6,5) 0.094256 -0.0943 Abs err 0.18856 exceeds tol 0.0001 by 0.2 -shared variables - ao = - - 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 - 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 - 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 - 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 - 0 0 0 0 1.7862 -0.0000 0.0000 - 0 0 0 0 0 2.0000 0.0000 - 0 0 0 0 0 0 -0.0000 - - eo = - - 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 - 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 - 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 - 0 0 0 -0.0000 1.1339 -0.5345 0.0000 - 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 - 0 0 0 0 -0.0000 -0.0000 1.0000 - 0 0 0 0 0.1728 0.4887 -1.8325 - - bo = - - -3.0702e-01 -5.4947e-01 - -4.9272e-01 1.6356e-01 - -1.2896e+00 6.8324e-02 - 1.7834e-16 -1.6036e+00 - 9.9893e-17 9.8026e-01 - 1.0000e+00 -1.7636e-48 - -1.2948e-16 3.6651e-01 - - co = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q = - - 0 0 0 0 0 1.0000 0.0000 - 0 0 0 0.0000 -0.7917 0.0000 -0.6108 - -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 - -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 - 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 - 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 - -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 - - z = - - 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 - 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 - -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 - 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 - -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 - -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 - 0 0 0 0 0 0 1.0000 - - nobsv = 3 - ao_e = - - 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 - 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 - -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 - 0 0 0 3.7417 0.3780 -3.7417 0 - 0 0 0 0 1.7862 0 0 - 0 0 0 0 0 2.0000 0 - 0 0 0 0 0 0 0 - - eo_e = - - 1.0000 0 0 0.4342 0 0 1.8016 - 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 - 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 - 0 0 0 0 -1.1339 -0.5345 0 - 0 0 0 0 -0.1333 0.3770 2.3752 - 0 0 0 0 0 0 1.0000 - 0 0 0 0 -0.1728 0.4887 -1.8325 - - bo_e = - - 0.4666 0 - 0.4334 0.5461 - -1.2627 0.1874 - 0 -1.6036 - 0 -0.9803 - 1.0000 0 - 0 0.3665 - - co_e = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q_e = - - 0 0 0 0 0 1.0000 0 - 0 0 0 0 0.7917 0 -0.6108 - 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 - 0.9008 0.1410 -0.4107 0 0 0 0 - 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 - 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 - -0.4342 0.2924 -0.8520 0 0 0 0 - - z_e = - - 0 0 0 0 0 1.0000 0 - 0 -0.6519 0.2740 0 0.7071 0 0 - -0.4342 0.3491 0.8304 0 0 0 0 - 0 0 0 -1.0000 0 0 0 - 0.9008 0.1683 0.4003 0 0 0 0 - 0 0.6519 -0.2740 0 0.7071 0 0 - 0 0 0 0 0 0 1.0000 - - nobsv_e = 3 -***** assert <45008> (z, z_e, 1e-4); -!!!!! known bug: https://octave.org/testfailure/?45008 -ASSERT errors for: assert (z,z_e,1e-4) - - Location | Observed | Expected | Reason - (2,1) 0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 - (3,1) -1.143e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 - (5,1) -0.36746 0.9008 Abs err 1.2683 exceeds tol 0.0001 by 1 - (6,1) -0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 - (2,2) 0.23892 -0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 - (3,2) -0.39305 0.3491 Abs err 0.74215 exceeds tol 0.0001 by 0.7 - (5,2) 0.85519 0.1683 Abs err 0.68689 exceeds tol 0.0001 by 0.7 - (6,2) -0.23892 0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 - (2,3) -0.10213 0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 - (3,3) -0.91952 0.8304 Abs err 1.7499 exceeds tol 0.0001 by 2 - (5,3) -0.36556 0.4003 Abs err 0.76586 exceeds tol 0.0001 by 0.8 - (6,3) 0.10213 -0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 - (2,5) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 - (6,5) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 -shared variables - ao = - - 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 - 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 - 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 - 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 - 0 0 0 0 1.7862 -0.0000 0.0000 - 0 0 0 0 0 2.0000 0.0000 - 0 0 0 0 0 0 -0.0000 - - eo = - - 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 - 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 - 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 - 0 0 0 -0.0000 1.1339 -0.5345 0.0000 - 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 - 0 0 0 0 -0.0000 -0.0000 1.0000 - 0 0 0 0 0.1728 0.4887 -1.8325 - - bo = - - -3.0702e-01 -5.4947e-01 - -4.9272e-01 1.6356e-01 - -1.2896e+00 6.8324e-02 - 1.7834e-16 -1.6036e+00 - 9.9893e-17 9.8026e-01 - 1.0000e+00 -1.7636e-48 - -1.2948e-16 3.6651e-01 - - co = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q = - - 0 0 0 0 0 1.0000 0.0000 - 0 0 0 0.0000 -0.7917 0.0000 -0.6108 - -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 - -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 - 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 - 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 - -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 - - z = - - 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 - 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 - -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 - 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 - -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 - -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 - 0 0 0 0 0 0 1.0000 - - nobsv = 3 - ao_e = - - 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 - 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 - -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 - 0 0 0 3.7417 0.3780 -3.7417 0 - 0 0 0 0 1.7862 0 0 - 0 0 0 0 0 2.0000 0 - 0 0 0 0 0 0 0 - - eo_e = - - 1.0000 0 0 0.4342 0 0 1.8016 - 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 - 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 - 0 0 0 0 -1.1339 -0.5345 0 - 0 0 0 0 -0.1333 0.3770 2.3752 - 0 0 0 0 0 0 1.0000 - 0 0 0 0 -0.1728 0.4887 -1.8325 - - bo_e = - - 0.4666 0 - 0.4334 0.5461 - -1.2627 0.1874 - 0 -1.6036 - 0 -0.9803 - 1.0000 0 - 0 0.3665 - - co_e = - - 0 0 0 0 0 2 1 - 0 0 0 0 0 1 2 - 0 0 0 0 0 0 3 - - q_e = - - 0 0 0 0 0 1.0000 0 - 0 0 0 0 0.7917 0 -0.6108 - 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 - 0.9008 0.1410 -0.4107 0 0 0 0 - 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 - 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 - -0.4342 0.2924 -0.8520 0 0 0 0 - - z_e = - - 0 0 0 0 0 1.0000 0 - 0 -0.6519 0.2740 0 0.7071 0 0 - -0.4342 0.3491 0.8304 0 0 0 0 - 0 0 0 -1.0000 0 0 0 - 0.9008 0.1683 0.4003 0 0 0 0 - 0 0.6519 -0.2740 0 0.7071 0 0 - 0 0 0 0 0 0 1.0000 - - nobsv_e = 3 -***** assert (nobsv, nobsv_e); -***** shared NUM, DEN, NUMe, DENe - A = [ -1.0 0.0 0.0 - 0.0 -2.0 0.0 - 0.0 0.0 -3.0 ]; - - B = [ 0.0 1.0 -1.0 - 1.0 1.0 0.0 ].'; - - C = [ 0.0 1.0 1.0 - 1.0 1.0 1.0 ]; - - D = [ 1.0 0.0 - 0.0 1.0 ]; - - [NUM, DEN] = tfdata (ss (A, B, C, D)); - ## remove possibly existing idendical pole/zero pairs - for i=1:2 - for j=1:2 - gcdij = polygcd (NUM{i,j},DEN{i,j}); - if length (gcdij) > 1 - NUM{i,j} = deconv (NUM{i,j}, gcdij); - DEN{i,j} = deconv (DEN{i,j}, gcdij); - endif - endfor - endfor - - NUMe = {[1, 5, 7], [0 1]; [0 0 1], [1, 5, 5]}; - - DENe = {[1, 5, 6], [1, 2]; [1, 5, 6], [1, 3, 2]}; - -***** assert (NUM, NUMe, 1e-4); -***** assert (DEN, DENe, 1e-4); -***** shared NUM, DEN, NUMe, DENe - A = [ 0 ]; - - B = [ 1 ]; - - C = [ 1 ]; - - D = [ 0 ]; - - [NUM, DEN] = tfdata (ss (A, B, C, D)); - - NUMe = {[0, 1]}; - - DENe = {[1, 0]}; - -***** assert (NUM, NUMe, 1e-4); -***** assert (DEN, DENe, 1e-4); -***** shared Mo, Me - INDEX = [ 3 3 ]; - - DCOEFF = [ 1.0 6.0 11.0 6.0 - 1.0 6.0 11.0 6.0 ]; - - UCOEFF = zeros (2, 2, 4); - - u11 = [ 1.0 6.0 12.0 7.0 ]; - u12 = [ 0.0 1.0 4.0 3.0 ]; - u21 = [ 0.0 0.0 1.0 1.0 ]; - u22 = [ 1.0 8.0 20.0 15.0 ]; - - UCOEFF(1,1,:) = u11; - UCOEFF(1,2,:) = u12; - UCOEFF(2,1,:) = u21; - UCOEFF(2,2,:) = u22; - - [Ao, Bo, Co, Do] = __sl_td04ad__ (UCOEFF, DCOEFF, INDEX, 0); - - Ae = [ 0.5000 -0.8028 0.9387 - 4.4047 -2.3380 2.5076 - -5.5541 1.6872 -4.1620 ]; - - Be = [ -0.2000 -1.2500 - 0.0000 -0.6097 - 0.0000 2.2217 ]; - - Ce = [ 0.0000 -0.8679 0.2119 - 0.0000 0.0000 0.9002 ]; - - De = [ 1.0000 0.0000 - 0.0000 1.0000 ]; - - Mo = [Ao, Bo; Co, Do]; - Me = [Ae, Be; Ce, De]; - -***** assert (Mo, Me, 1e-4); -43 tests, 33 passed, 0 known failure, 10 skipped -[inst/place.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/place.m -***** shared A, B, C, P, Kexpected - A = [0, 1; 3, 2]; - B = [0; 1]; - C = [2, 1]; # C is needed for ss; it doesn't matter what the value of C is - P = [-1, -0.5]; - Kexpected = [3.5, 3.5]; -***** assert (place (ss (A, B, C), P), Kexpected, 2*eps); -***** assert (place (A, B, P), Kexpected, 2*eps); -***** shared F, F_exp, ev_ol, ev_cl - A = [-6.8000 0.0000 -207.0000 0.0000 - 1.0000 0.0000 0.0000 0.0000 - 43.2000 0.0000 0.0000 -4.2000 - 0.0000 0.0000 1.0000 0.0000]; - - B = [ 5.6400 0.0000 - 0.0000 0.0000 - 0.0000 1.1800 - 0.0000 0.0000]; - - P = [-0.5000 + 0.1500i - -0.5000 - 0.1500i]; - - ALPHA = -0.4; - TOL = 1e-8; - - F = place (A, B, P, ALPHA, TOL); - - F_exp = - [-0.0876 -4.2138 0.0837 -18.1412 - -0.0233 18.2483 -0.4259 -4.8120]; - - ev_ol = sort (eig (A)); - ev_cl = sort (eig (A - B*F)); - -***** assert (F, F_exp, 1e-4); -***** assert (ev_ol(3:4), ev_cl(3:4), 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/covar.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/covar.m -***** shared p, q, p_exp, q_exp - sys = ss (-1, 1, 1, 0); - [p, q] = covar (sys, 5); - p_exp = 2.5000; - q_exp = 2.5000; -***** assert (p, p_exp, 1e-4); -***** assert (q, q_exp, 1e-4); -***** shared p, q, p_exp, q_exp - sys = ss ([-0.2, -0.5; 1, 0], [2; 0], [1, 0.5], [0], 0.1); - [p, q] = covar (sys, 5); - p_exp = 30.3167; - q_exp = [27.1493, -3.6199; -3.6199, 27.1493]; -***** assert (p, p_exp, 1e-4); -***** assert (q, q_exp, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/estim.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/estim.m -***** test - sys = ss (-2, 1, 1, 3); - est = estim (sys, 5); - [a, b, c, d] = ssdata (est); - m = [a, b; c, d]; - m_exp = [-7, 5; 1, 0; 1, 0]; - assert (m, m_exp, 1e-4); -***** test - sys = ss (-1, 2, 3, 4); - est = estim (sys, 5); - [a, b, c, d] = ssdata (est); - m = [a, b; c, d]; - m_exp = [-16, 5; 3, 0; 1, 0]; - assert (m, m_exp, 1e-4); -***** shared A, B, C, D, L, sysd, x0, xo0, u, k, y, x - A = [ 0 1 0 ; 0 0 1 ; 0.5120 0.640 -0.800]; - B = [ 0; 0; 1 ]; - C = [ 0.1 0 0 ]; - D = 1; - L = place (A',C',zeros(1,3))'; % Deadbeat - sysd = ss (A,B,C,D,1); - x0 = [ .1 .1 .1 ]; - xo0 = [ 0 0 0 ]; - k = 0:1:25; - u = 0.1*sin(0.5*k).*cos(0.4*k).^2; - [y,t,x] = lsim (sysd, u, k, x0); -***** test - estc = estim (sysd, L, [], 1, 'current'); - [yoc,t,~] = lsim (estc, [u' y], k, xo0); - xoc = yoc(:,2:end); - ec = xoc - x; - assert (ec(3,:), zeros(1,3), 1e-4); % ed already zero for k = 2 -***** test - estd = estim (sysd, L, [], 1); - [yod,t,~] = lsim (estd, [u' y], k, xo0); - xod = yod(:,2:end); - ed = xod - x; - assert (ed(1,:), xo0 - x0, 1e-4); % ec not corrected at k = 0 - assert (ed(4,:), zeros(1,3), 1e-4); % ec zero for k = 3 -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/damp.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/damp.m -***** test - A = [-1, 0, 0; - 0, -2, 0; - 0, 0, -3 ]; - - Wn_exp = [1; - 2; - 3 ]; - - zeta_exp = [1; - 1; - 1 ]; - - P_exp = [-1; - -2; - -3 ]; - - [Wn_obs, zeta_obs, P_obs] = damp (ss (A, ones (3, 1))); - - assert (Wn_obs, Wn_exp, 0); - assert (zeta_obs, zeta_exp, 0); - assert (P_obs, P_exp, 0); -***** test - H = tf ([2, 5, 1], [1, 2, 3]); - - Wn_exp = [1.7321; - 1.7321 ]; - - zeta_exp = [0.5774; - 0.5774 ]; - - P_exp = [-1.0000 + 1.4142i; - -1.0000 - 1.4142i ]; - - [Wn_obs, zeta_obs, P_obs] = damp (H); - - assert (Wn_obs, Wn_exp, 1e-4); - assert (zeta_obs, zeta_exp, 1e-4); - assert (P_obs, P_exp, 1e-4); -***** test - H = tf ([5, 3, 1], [1, 6, 4, 4], 0.01); - - Wn_exp = [193.4924; - 193.4924; - 356.5264 ]; - - zeta_exp = [ 0.0774; - 0.0774; - -0.4728 ]; - - P_exp = [-0.3020 + 0.8063i; - -0.3020 - 0.8063i; - -5.3961 + 0.0000i ]; - - [Wn_obs, zeta_obs, P_obs] = damp (H); - - assert (Wn_obs, Wn_exp, 1e-4); - assert (zeta_obs, zeta_exp, 1e-4); - assert (P_obs, P_exp, 1e-4); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/dsort.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/dsort.m -***** shared s_exp, ndx_exp, s_obs, ndx_obs - p = [-0.2410+0.5573i; - -0.2410-0.5573i; - 0.1503; - -0.0972; - -0.2590]; - s_exp = [ -0.2410+0.5573i; - -0.2410-0.5573i; - -0.2590; - 0.1503; - -0.0972]; - ndx_exp = [ 1; - 2; - 5; - 3; - 4]; - [s_obs, ndx_obs] = dsort(p); -***** assert(s_obs, s_exp, 0); -***** assert(ndx_obs, ndx_exp, 0); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/hinfsyn.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/hinfsyn.m -***** test -***** shared M, M_exp - A = [-1.0 0.0 4.0 5.0 -3.0 -2.0 - -2.0 4.0 -7.0 -2.0 0.0 3.0 - -6.0 9.0 -5.0 0.0 2.0 -1.0 - -8.0 4.0 7.0 -1.0 -3.0 0.0 - 2.0 5.0 8.0 -9.0 1.0 -4.0 - 3.0 -5.0 8.0 0.0 2.0 -6.0]; - - B = [-3.0 -4.0 -2.0 1.0 0.0 - 2.0 0.0 1.0 -5.0 2.0 - -5.0 -7.0 0.0 7.0 -2.0 - 4.0 -6.0 1.0 1.0 -2.0 - -3.0 9.0 -8.0 0.0 5.0 - 1.0 -2.0 3.0 -6.0 -2.0]; - - C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 - -3.0 0.0 5.0 -1.0 1.0 1.0 - -7.0 5.0 0.0 -8.0 2.0 -2.0 - 9.0 -3.0 4.0 0.0 3.0 7.0 - 0.0 1.0 -2.0 1.0 -6.0 -2.0]; - - D = [ 1.0 -2.0 -3.0 0.0 0.0 - 0.0 4.0 0.0 1.0 0.0 - 5.0 -3.0 -4.0 0.0 1.0 - 0.0 1.0 0.0 1.0 -3.0 - 0.0 0.0 1.0 7.0 1.0]; - - P = ss (A, B, C, D); - K = hinfsyn (P, 2, 2, "method", "sub", "gmax", 15); - M = [K.A, K.B; K.C, K.D]; - - KA = [ -2.8043 14.7367 4.6658 8.1596 0.0848 2.5290 - 4.6609 3.2756 -3.5754 -2.8941 0.2393 8.2920 - -15.3127 23.5592 -7.1229 2.7599 5.9775 -2.0285 - -22.0691 16.4758 12.5523 -16.3602 4.4300 -3.3168 - 30.6789 -3.9026 -1.3868 26.2357 -8.8267 10.4860 - -5.7429 0.0577 10.8216 -11.2275 1.5074 -10.7244]; - - KB = [ -0.1581 -0.0793 - -0.9237 -0.5718 - 0.7984 0.6627 - 0.1145 0.1496 - -0.6743 -0.2376 - 0.0196 -0.7598]; - - KC = [ -0.2480 -0.1713 -0.0880 0.1534 0.5016 -0.0730 - 2.8810 -0.3658 1.3007 0.3945 1.2244 2.5690]; - - KD = [ 0.0554 0.1334 - -0.3195 0.0333]; - - M_exp = [KA, KB; KC, KD]; - - assert (M, M_exp, 1e-4); -***** test -***** shared M, M_exp - A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 - -0.6 0.2 -0.4 -0.3 0.0 0.0 - -0.5 0.7 -0.1 0.0 0.0 -0.8 - -0.7 0.0 0.0 -0.5 -1.0 0.0 - 0.0 0.3 0.6 -0.9 0.1 -0.4 - 0.5 -0.8 0.0 0.0 0.2 -0.9]; - - B = [-1.0 -2.0 -2.0 1.0 0.0 - 1.0 0.0 1.0 -2.0 1.0 - -3.0 -4.0 0.0 2.0 -2.0 - 1.0 -2.0 1.0 0.0 -1.0 - 0.0 1.0 -2.0 0.0 3.0 - 1.0 0.0 3.0 -1.0 -2.0]; - - C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 - -3.0 0.0 1.0 -1.0 1.0 0.0 - 0.0 2.0 0.0 -4.0 0.0 -2.0 - 1.0 -3.0 0.0 0.0 3.0 1.0 - 0.0 1.0 -2.0 1.0 0.0 -2.0]; - - D = [ 1.0 -1.0 -2.0 0.0 0.0 - 0.0 1.0 0.0 1.0 0.0 - 2.0 -1.0 -3.0 0.0 1.0 - 0.0 1.0 0.0 1.0 -1.0 - 0.0 0.0 1.0 2.0 1.0]; - - P = ss (A, B, C, D, 1); # value of sampling time doesn't matter - K = hinfsyn (P, 2, 2, "method", "sub", "gmax", 111.294); - M = [K.A, K.B; K.C, K.D]; - - KA = [-18.0030 52.0376 26.0831 -0.4271 -40.9022 18.0857 - 18.8203 -57.6244 -29.0938 0.5870 45.3309 -19.8644 - -26.5994 77.9693 39.0368 -1.4020 -60.1129 26.6910 - -21.4163 62.1719 30.7507 -0.9201 -48.6221 21.8351 - -0.8911 4.2787 2.3286 -0.2424 -3.0376 1.2169 - -5.3286 16.1955 8.4824 -0.2489 -12.2348 5.1590]; - - KB = [ 16.9788 14.1648 - -18.9215 -15.6726 - 25.2046 21.2848 - 20.1122 16.8322 - 1.4104 1.2040 - 5.3181 4.5149]; - - KC = [ -9.1941 27.5165 13.7364 -0.3639 -21.5983 9.6025 - 3.6490 -10.6194 -5.2772 0.2432 8.1108 -3.6293]; - - KD = [ 9.0317 7.5348 - -3.4006 -2.8219]; - - M_exp = [KA, KB; KC, KD]; - - assert (M, M_exp, 1e-4); -***** test -***** shared M, M_exp, GAM_exp, GAM - A = [-0.7 0.0 0.3 0.0 -0.5 -0.1 - -0.6 0.2 -0.4 -0.3 0.0 0.0 - -0.5 0.7 -0.1 0.0 0.0 -0.8 - -0.7 0.0 0.0 -0.5 -1.0 0.0 - 0.0 0.3 0.6 -0.9 0.1 -0.4 - 0.5 -0.8 0.0 0.0 0.2 -0.9]; - - B = [-1.0 -2.0 -2.0 1.0 0.0 - 1.0 0.0 1.0 -2.0 1.0 - -3.0 -4.0 0.0 2.0 -2.0 - 1.0 -2.0 1.0 0.0 -1.0 - 0.0 1.0 -2.0 0.0 3.0 - 1.0 0.0 3.0 -1.0 -2.0]; - - C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 - -3.0 0.0 1.0 -1.0 1.0 0.0 - 0.0 2.0 0.0 -4.0 0.0 -2.0 - 1.0 -3.0 0.0 0.0 3.0 1.0 - 0.0 1.0 -2.0 1.0 0.0 -2.0]; - - D = [ 1.0 -1.0 -2.0 0.0 0.0 - 0.0 1.0 0.0 1.0 0.0 - 2.0 -1.0 -3.0 0.0 1.0 - 0.0 1.0 0.0 1.0 -1.0 - 0.0 0.0 1.0 2.0 1.0]; - - P = ss (A, B, C, D, 1); - [K, ~, GAM] = hinfsyn (P, 2, 2, "gmax", 1000, "tolgam", 1e-4); - M = [K.A, K.B; K.C, K.D]; - - KA = [-18.0030 52.0376 26.0831 -0.4271 -40.9022 18.0857 - 18.8203 -57.6244 -29.0938 0.5870 45.3309 -19.8644 - -26.5994 77.9693 39.0368 -1.4020 -60.1129 26.6910 - -21.4163 62.1719 30.7507 -0.9201 -48.6221 21.8351 - -0.8911 4.2787 2.3286 -0.2424 -3.0376 1.2169 - -5.3286 16.1955 8.4824 -0.2489 -12.2348 5.1590]; - - KB = [ 16.9788 14.1648 - -18.9215 -15.6726 - 25.2046 21.2848 - 20.1122 16.8322 - 1.4104 1.2040 - 5.3181 4.5149]; - - KC = [ -9.1941 27.5165 13.7364 -0.3639 -21.5983 9.6025 - 3.6490 -10.6194 -5.2772 0.2432 8.1108 -3.6293]; - - KD = [ 9.0317 7.5348 - -3.4006 -2.8219]; - - M_exp = [KA, KB; KC, KD]; - GAM_exp = 111.294; - - assert (M, M_exp, 1e-1); - assert (GAM, GAM_exp, 1e-3); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/ctrb.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/ctrb.m -***** assert (ctrb ([1, 0; 0, -0.5], [8; 8]), [8, 8; 8, -4]); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/gram.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/gram.m -***** test - a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; - b = [1 0; 0 -1; 0 1]; - c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is - Wc = gram (ss (a, b, c), "c"); - assert (a * Wc + Wc * a.' + b * b.', zeros (size (a))) -***** test - a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; - b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is - c = [0 0 1; 1 1 0]; - Wo = gram (ss (a, b, c), "o"); - assert (a.' * Wo + Wo * a + c.' * c, zeros (size (a))) -***** test - a = [-1 0 0; 1/2 -1 0; 1/2 0 -1]; - b = [1 0; 0 -1; 0 1]; - Wc = gram (a, b); - assert (a * Wc + Wc * a.' + b * b.', zeros (size (a))) -***** test - a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2; - b = [1 0; 0 -1; 0 1]; - c = [0 0 1; 1 1 0]; ## it doesn't matter what the value of c is - d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is - Ts = 0.1; ## Ts != 0 - Wc = gram (ss (a, b, c, d, Ts), "c"); - assert (a * Wc * a.' - Wc + b * b.', zeros (size (a)), 1e-12) -***** test - a = [-1 0 0; 1/2 1 0; 1/2 0 -1] / 2; - b = [1 0; 0 -1; 0 1]; ## it doesn't matter what the value of b is - c = [0 0 1; 1 1 0]; - d = zeros (rows (c), columns (b)); ## it doesn't matter what the value of d is - Ts = 0.1; ## Ts != 0 - Wo = gram (ss (a, b, c, d, Ts), "o"); - assert (a.' * Wo * a - Wo + c.' * c, zeros (size (a)), 1e-12) -5 tests, 5 passed, 0 known failure, 0 skipped -[inst/dare.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/dare.m -***** shared x, l, g, xe, le, ge - a = [ 0.4 1.7 - 0.9 3.8]; - - b = [ 0.8 - 2.1]; - - c = [ 1 -1]; - - r = 3; - - [x, l, g] = dare (a, b, c.'*c, r); - - xe = [ 1.5354 1.2623 - 1.2623 10.5596]; - - le = [-0.0022 - 0.2454]; - - ge = [ 0.4092 1.7283]; - -***** assert (x, xe, 1e-4); -***** assert (sort (l), sort (le), 1e-4); -***** assert (g, ge, 1e-4); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/dlyapchol.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/dlyapchol.m -***** shared U, U_exp - - A = [ 0.5000 0.5000 -0.5000 - 0.0000 1.0000 -0.5000 - 1.0000 -0.5000 0.0000 ]; - - B = [ -2.0 ; 1.0 ; -1.0 ]; - - U = dlyapchol (A, B); - - U_exp = [ 5.6042 5.1284 1.9562 - 0.0000 3.4313 -1.6716 - 0.0000 0.0000 2.5621 ]; - -***** assert (U, U_exp, 1e-4); -***** shared U, U_exp - - A = [ 0.5000 0.5000 -0.5000 - 0.0000 1.0000 -0.5000 - 1.0000 -0.5000 0.0000 ]; - - B = [ -2.0 ; 1.0 ; -1.0 ]; - - E = [ 2.0000 0.0000 0.0000 - 0.0000 2.0000 0.0000 - 0.0000 0.0000 2.0000 ]; - - U = dlyapchol (A, B, E); - - U_exp = [ 1.0488 -0.3546 0.4644 - 0.0000 0.6560 -0.5187 - 0.0000 0.0000 0.4099 ]; - -***** assert (U, U_exp, 1e-4); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/issample.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/issample.m -***** assert (issample (1)) -***** assert (issample (pi)) -***** assert (issample (0), false) -***** assert (issample (-1), false) -***** assert (issample (-1, 1), false) -***** assert (issample ("a"), false) -***** assert (issample (eye (2)), false) -***** assert (issample (2+2i), false) -***** assert (issample (1, 0)) -***** assert (issample (0, 0)) -***** assert (issample (-1, 0), false) -***** assert (issample (pi, 0)) -***** assert (issample ("b", 0), false) -***** assert (issample (rand (3,2), 0), false) -***** assert (issample (2+2i, 0), false) -***** assert (issample (0+2i, 0), false) -***** assert (issample (-1, -1)) -***** assert (issample (0, -1), false) -***** assert (issample (1, -1)) -***** assert (issample (pi, -1)) -***** assert (issample (-pi, -1), false) -***** assert (issample ("b", -1), false) -***** assert (issample (rand (3,2), -1), false) -***** assert (issample (-2+2i, -1), false) -***** error (issample (-1, "ab")) -***** error (issample ()) -***** error (issample (-1, -1, -1)) -***** error (issample (1, pi)) -***** error (issample (5, rand (2,3))) -***** error (issample (0, 1+2i)) -30 tests, 30 passed, 0 known failure, 0 skipped -[inst/lqgtrack.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqgtrack.m -***** test - G = zpk([], [-10 -1 -100], 2000); - sys = ss(G); - [n, m] = size(sys.b); - [p, ~] = size(sys.c); - Q = eye(3+p); - R = 1; - S = zeros(3+p,1); - W = eye(3); - V = 1; - N = zeros(3, 1); - K = lqi(sys, Q, R, S); - Bn = [sys.b eye(n)]; - sys_noisy = ss(sys.a, Bn, sys.c, sys.d, sys.ts); - [est, L1, ~] = kalman(sys_noisy, W, V, N, 1:p, 1:m); - reg = lqgtrack(est,K); - assert(real(eig(feedback(reg, sys, 2, 1, 1)))<0); - Ts = 0.01; - Gz = zpk([],[-0.1 0.05 0.004], 3, Ts); - sysz = ss(Gz); - kz = lqi(sysz, Q, R, S); - Bn = [sysz.b eye(n)]; - sys_noisyz = ss(sysz.a, Bn, sysz.c, sysz.d, sysz.ts); - [estz, L1, ~] = kalman(sys_noisyz, W, V, N, 1:p, 1:m); - regz = lqgtrack(estz,kz); - assert(abs(eig(feedback(regz, sysz, 2, 1, 1)))<1); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/ctrbf.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/ctrbf.m -***** shared Ao, Bo, Co, Zo, Ae, Be, Ce, Ze, NCONT - A = [ -1.0 0.0 0.0 - -2.0 -2.0 -2.0 - -1.0 0.0 -3.0 ]; - - B = [ 1.0 0.0 0.0 - 0.0 2.0 1.0 ].'; - - C = [ 0.0 2.0 1.0 - 1.0 0.0 0.0 ]; - - [Ao, Bo, Co, Zo, NCONT] = ctrbf (A, B, C); - - Ae = [ -3.0000 2.2361 - 0.0000 -1.0000 ]; - - Be = [ 0.0000 -2.2361 - 1.0000 0.0000 ]; - - Ce = [ -2.2361 0.0000 - 0.0000 1.0000 ]; - - Ze = [ 0.0000 1.0000 0.0000 - -0.8944 0.0000 -0.4472 - -0.4472 0.0000 0.8944 ]; - -***** assert (Ao(1:NCONT, 1:NCONT), Ae, 1e-4); -***** assert (Bo(1:NCONT, :), Be, 1e-4); -***** assert (Co(:, 1:NCONT), Ce, 1e-4); -***** assert (Zo, Ze, 1e-4); -4 tests, 4 passed, 0 known failure, 0 skipped -[inst/rlocus.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/rlocus.m -***** demo - s = tf('s'); - g = (s^2+2*s+2)/(s*(s^4+9*s^3+33*s^2+51*s+26)); - rlocus(g); -***** test - num = [0 0 1]; - den = [1 2 0]; - G = tf(num,den); - [rldata,ko,~,gvec] = rlocus(G); - idx = floor(length(gvec)/2); - go = gvec(idx); - rlo = rldata(1,idx); - ke = 1; - rle = roots (den + go*num); - assert (ko, ke, 1e-4); - assert (rlo, rle(2), 1e-4); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/impulse.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/impulse.m -***** test - t=0:1:4; - sys=tf(1,[1 2 2 1]); - y=impulse(sys,t); - assert (y(1), 0, eps); - assert (y(2), 0.241686482894434, 2*eps); - assert (y(3), 0.404040547757057, 2*eps); - assert (y(4), 0.307384479794317, 2*eps); - assert (y(5), 0.121908527560869, 6*eps); # error propagation -***** test - t=0:1:4; - sys=tf(1,[1 2 2 1]); - sys2=c2d(sys, 1, "impulse"); - y=impulse(sys2,t); - assert (y(1), 0, eps); - assert (y(2), 0.241686482894434, 4*eps); - assert (y(3), 0.404040547757057, 6*eps); - assert (y(4), 0.307384479794317, 8*eps); - assert (y(5), 0.121908527560869, 10*eps); # error propagation -***** test - s = tf("s"); - R = 1/s; - y= impulse(R); - assert (y(1), 1, eps); -***** demo - clf; - s = tf('s'); - g = 1/(2*s^2+3*s+4); - impulse(g); - title ("Impulse response of a PT2 transfer function"); -***** demo - clf; - s = tf('s'); - g = 1/(2*s^2+3*s+4); - h = c2d(g,0.1); - impulse(h); - title ("Impulse response of a discretized PT2 transfer function"); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/acker.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/acker.m -***** test - # https://en.wikipedia.org/wiki/Ackermann's_formula#Example - A = [1 1; 1 2]; - B = [1; 0]; - P = roots ([1 11 30]); - K = acker(A,B,P); - assert (K, [14 57]); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/hnamodred.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/hnamodred.m -***** shared Mo, Me, Info, HSVe - A = [ -3.8637 -7.4641 -9.1416 -7.4641 -3.8637 -1.0000 - 1.0000, 0 0 0 0 0 - 0 1.0000 0 0 0 0 - 0 0 1.0000 0 0 0 - 0 0 0 1.0000 0 0 - 0 0 0 0 1.0000 0 ]; - - B = [ 1 - 0 - 0 - 0 - 0 - 0 ]; - - C = [ 0 0 0 0 0 1 ]; - - D = [ 0 ]; - - G = ss (A, B, C, D); # "scaled", false - - AV = [ 0.2000 -1.0000 - 1.0000 0 ]; - - BV = [ 1 - 0 ]; - - CV = [ -1.8000 0 ]; - - DV = [ 1 ]; - - V = ss (AV, BV, CV, DV); - - [Gr, Info] = hnamodred (G, "left", V, "tol1", 1e-1, "tol2", 1e-14); - [Ao, Bo, Co, Do] = ssdata (Gr); - - Ae = [ -0.2391 0.3072 1.1630 1.1967 - -2.9709 -0.2391 2.6270 3.1027 - 0.0000 0.0000 -0.5137 -1.2842 - 0.0000 0.0000 0.1519 -0.5137 ]; - - Be = [ -1.0497 - -3.7052 - 0.8223 - 0.7435 ]; - - Ce = [ -0.4466 0.0143 -0.4780 -0.2013 ]; - - De = [ 0.0219 ]; - - # Since hnamodred approximates the input/output behavior only - # input/output behavior is tested using n first Markov parameters. - # The state space representaton might have different signs - # of the states. - # By multiplying the matrices for the Markov parameters, numeric errors - # would propagate, therefor the accuracy of the results are limited to - # the accuracy of the given expected results - - [Ao,Bo,Co,Do] = ssdata (Gr); - Ao = round (Ao*1e4)/1e4; - Bo = round (Bo*1e4)/1e4; - Co = round (Co*1e4)/1e4; - Do = round (Do*1e4)/1e4; - - n = size(Ao,1); - m = size(Bo,2); - p = size(Co,1); - Mo = zeros (p,(n+1)*m); - Me = zeros (p,(n+1)*m); - Mo(:,1:m) = Do; - Me(:,1:m) = De; - - Aoi = eye (n,n); - Aei = eye (n,n); - for i = 1:n - Mo(:,i*m+1:(i+1)*m) = Co*Aoi*Bo; - Me(:,i*m+1:(i+1)*m) = Ce*Aei*Be; - Aoi = Aoi*Ao; - Aei = Aei*Ae; - endfor - - HSVe = [ 2.6790 2.1589 0.8424 0.1929 0.0219 0.0011 ].'; - -***** assert (Mo, Me, 1e-3); -***** assert (Info.hsv, HSVe, 1e-4); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/btaconred.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/btaconred.m -***** shared Mo, Me, Info, HSVCe - A = [ -1. 0. 4. - 0. 2. 0. - 0. 0. -3. ]; - - B = [ 1. - 1. - 1. ]; - - C = [ 1. 1. 1. ]; - - D = [ 0. ]; - - G = ss (A, B, C, D, "scaled", true); - - AC = [ -26.4000, 6.4023, 4.3868; - 32.0000, 0, 0; - 0, 8.0000, 0 ]; - - BC = [ -16 - 0 - 0 ]; - - CC = [ 9.2994 1.1624 0.1090 ]; - - DC = [ 0 ]; - - K = ss (AC, BC, CC, DC, "scaled", true); - - [Kr, Info] = btaconred (G, K, 2, "weight", "input", "feedback", "+"); - - Ae = [ 9.1900 0.0000 - 0.0000 -34.5297 ]; - - Be = [ -11.9593 - 86.3137 ]; - - Ce = [ 2.8955 -1.3566 ]; - - De = [ 0.0000 ]; - - # Since btaconred approximates an output controller, - # only its input/output behavior is important and is tested - # using n first Markov parameters. - # The state space representaton might have different signs - # of the states. - # By multiplying the matrices for the Markov parameters, numeric errors - # would propagate, therefor the accuracy of the results are limited to - # the accuracy of the given expected results - - [Ao,Bo,Co,Do] = ssdata (Kr); - Ao = round (Ao*1e4)/1e4; - Bo = round (Bo*1e4)/1e4; - Co = round (Co*1e4)/1e4; - Do = round (Do*1e4)/1e4; - - n = size(Ao,1); - m = size(Bo,2); - p = size(Co,1); - Mo = zeros (p,(n+1)*m); - Me = zeros (p,(n+1)*m); - Mo(:,1:m) = Do; - Me(:,1:m) = De; - - Aoi = eye (n,n); - Aei = eye (n,n); - for i = 1:n - Mo(:,(i-1)*m+1:i*m) = Co*Aoi*Bo; - Me(:,(i-1)*m+1:i*m) = Ce*Aei*Be; - Aoi = Aoi*Ao; - Aei = Aei*Ae; - endfor - - HSVCe = [ 3.8253 0.2005 ].'; - -***** assert (Mo, Me, 1e-4); -***** assert (Info.hsvc, HSVCe, 1e-4); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/moen4.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/moen4.m -***** shared SYS, X0, INFO, Ae, Be, Ce, De, Ke, Qe, Rye, Se, X0e - - Y = [ 4.7661 5.5451 5.8503 5.3766 4.8833 5.4865 3.5378 5.3155 6.0530 4.3729 - 4.7637 5.1886 5.9236 5.6818 4.8858 5.1495 3.5549 5.5329 6.0799 4.7417 - 4.8394 4.8833 5.9212 5.8235 4.8931 4.8442 3.4938 5.4450 6.1287 5.0884 - 5.0030 4.6000 5.9773 5.9529 4.7148 4.5414 3.4474 5.3961 6.0799 5.1861 - 5.0176 4.2704 5.7405 6.0628 4.4511 4.2679 3.4401 5.2740 6.1678 5.0372 - 5.0567 4.0384 5.3888 6.0897 4.2337 4.0604 3.4083 5.0274 6.1947 4.7856 - 5.1544 3.8381 5.0005 6.0750 4.0433 3.9602 3.4108 4.7441 6.2362 4.5634 - 5.3619 3.7112 4.8491 6.0262 3.8650 3.7893 3.4523 4.6684 6.0530 4.5341 - 5.4254 3.5915 4.9444 5.9944 3.7576 3.6428 3.6818 4.6513 5.6525 4.7050 - 5.5695 3.5353 5.1739 6.0775 3.6696 3.5256 4.0604 4.5146 5.2740 4.7417 - 5.6818 3.4865 5.3693 5.8577 3.5939 3.4987 4.4413 4.2679 4.8589 4.6489 - 5.7429 3.4767 5.4474 5.7014 3.5475 3.4547 4.8540 4.2606 4.5341 4.4315 - 5.8039 3.4254 5.6037 5.7307 3.5060 3.4083 5.1544 4.2630 4.4560 4.2386 - 5.9187 3.3815 5.7307 5.7844 3.4547 3.3790 5.4254 4.1898 4.6196 4.0652 - 5.8210 3.3693 5.8503 5.8235 3.3986 3.3766 5.5964 4.2777 4.8662 3.9431 - 5.4474 3.3644 5.9798 5.8943 3.3619 3.3619 5.5866 4.6000 5.1177 3.8113 - 5.0616 3.3473 5.9920 5.7624 3.3400 3.3595 5.3546 4.9322 5.1666 3.6916 - 4.6293 3.3815 6.0848 5.4157 3.3742 3.3693 5.0274 5.2838 5.0567 3.6525 - 4.2679 3.4206 5.9407 4.9615 3.5207 3.3986 4.8638 5.5280 5.0030 3.8259 - 4.0115 3.4132 5.8039 4.5952 3.7136 3.5793 4.7612 5.7405 5.0982 4.2240 - 3.8503 3.4523 5.7917 4.3314 3.7576 3.9480 4.5707 5.8748 5.3253 4.4242 - 3.7112 3.6355 5.6037 4.2972 3.7795 4.4120 4.3681 5.9554 5.5671 4.4291 - 3.5695 4.0384 5.2643 4.5829 3.6965 4.5854 4.3974 5.9920 5.4670 4.3192 - 3.5182 4.3754 4.9468 4.8613 3.7771 4.5146 4.5732 5.8455 5.2521 4.1385 - 3.6525 4.7270 4.6196 5.1739 3.8870 4.3436 4.8418 5.5280 4.9468 3.9651 - 3.8186 5.0567 4.5146 5.1666 3.9041 4.1556 5.2032 5.0616 4.8809 3.8870 - 3.8626 5.2985 4.4340 4.9199 3.8503 3.9847 5.4523 4.7344 4.9810 3.8015 - 4.0115 5.5329 4.2850 4.6074 3.9651 4.0433 5.6525 4.5341 5.2252 3.7014 - 4.3534 5.4670 4.1214 4.3705 4.2826 4.3070 5.8552 4.5341 5.4596 3.6403 - 4.7050 5.1959 3.9456 4.1825 4.5219 4.4218 5.9065 4.6977 5.7234 3.7673 - 5.0836 4.8858 3.9847 4.0384 4.7148 4.3534 5.9529 4.7441 5.7917 4.1507 - 5.3449 4.7637 4.2191 4.1458 4.9712 4.2240 5.8284 4.6196 5.9065 4.6489 - 5.2740 4.8760 4.5463 4.4315 5.2203 4.0530 5.7917 4.6440 5.9920 4.9908 - 5.1275 5.0420 4.8735 4.5561 5.5329 3.9407 5.7991 4.8320 5.8357 5.0884 - 4.7612 5.2838 5.1544 4.4804 5.6525 3.8381 5.8137 5.1324 5.5280 5.0225 - 4.4511 5.4914 5.3888 4.3754 5.7820 3.7307 5.8772 5.4108 5.1422 4.7832 - 4.2215 5.5964 5.6135 4.3705 5.9554 3.6525 5.9554 5.6257 4.7759 4.6855 - 4.0457 5.6721 5.8357 4.5585 6.0359 3.6110 5.7820 5.6037 4.4902 4.6660 - 3.8748 5.7722 5.8845 4.8589 6.1190 3.5646 5.5182 5.3155 4.2362 4.7075 - 3.7307 5.8308 5.9554 4.8955 6.1336 3.4963 5.1275 4.9615 4.0237 4.9126 - 3.6623 5.9334 5.7624 4.7417 6.1532 3.4621 4.7637 4.6196 3.8870 5.1959 - 3.5768 5.8992 5.4596 4.7441 6.1922 3.4547 4.4926 4.3583 3.7527 5.4157 - 3.5427 5.9358 5.0616 4.8760 6.1434 3.4254 4.2337 4.1556 3.6818 5.6232 - 3.4792 5.8943 4.7075 5.1055 6.1678 3.3790 4.0115 4.0335 3.8064 5.7405 - 3.4547 5.9187 4.4584 5.2398 5.9920 3.4328 3.8552 3.8870 4.1458 5.8992 - 3.3595 5.9944 4.2679 5.5182 5.6525 3.6232 3.6916 3.7722 4.6000 5.9285 - 3.2985 5.9578 4.0530 5.6525 5.4596 3.9749 3.6355 3.6403 5.0030 6.0506 - 3.2252 6.0311 3.9431 5.7234 5.4376 4.3803 3.8186 3.5329 5.3033 6.1532 - 3.2008 6.0628 3.8259 5.8552 5.3400 4.7148 4.1556 3.4352 5.5524 5.9651 - 3.2252 6.0408 3.9676 5.9627 5.0982 5.0738 4.5903 3.4279 5.6159 5.5866 - 3.2276 6.0970 4.2801 5.9847 4.7856 5.3693 4.9883 3.4230 5.5231 5.3815 - 3.2740 6.1239 4.4804 5.9847 4.4926 5.6037 5.0762 3.3986 5.6110 5.3717 - 3.4572 6.1629 4.4926 6.0555 4.2362 5.7453 4.9077 3.6037 5.7136 5.4865 - 3.8674 6.0408 4.3900 6.0628 4.0677 5.6525 4.6489 4.0237 5.8455 5.5671 - 4.3217 5.8455 4.1971 6.0555 3.9334 5.4010 4.3778 4.4511 5.8992 5.8210 - 4.4926 5.7722 4.1116 6.0701 3.8235 5.0152 4.2166 4.7930 5.9944 5.9138 - 4.4315 5.7991 3.9822 5.7844 3.7307 4.7099 4.2875 4.9029 6.0921 5.9944 - 4.2435 5.9236 3.8674 5.4401 3.6110 4.4169 4.5903 4.7808 6.0921 6.0115 - 4.0506 5.9285 3.7673 5.0567 3.5646 4.2362 4.8467 4.5903 6.1434 5.9993 - 3.8577 6.0018 3.8723 4.9419 3.5500 4.2362 5.1397 4.3363 6.1532 6.0188 - 3.7307 6.0018 4.2362 5.0103 3.5573 4.2484 5.3888 4.1458 6.2337 5.8210 - 3.7917 6.0604 4.6635 5.1348 3.5134 4.2215 5.6892 4.2166 6.1873 5.7282 - 3.9212 5.8821 4.9712 5.3131 3.5158 4.2972 5.8845 4.4340 6.0140 5.7405 - 3.9554 5.5109 5.0665 5.4792 3.6941 4.5903 6.0433 4.7148 5.8357 5.7649 - 3.8479 5.3229 4.9029 5.6232 4.0726 4.8931 6.1703 5.0982 5.7746 5.8821 - 3.7258 5.3717 4.6757 5.5622 4.4804 5.1348 6.2118 5.3595 5.6867 5.9260 - 3.6110 5.4547 4.3925 5.3302 4.7050 5.4279 6.2508 5.5695 5.5378 5.7502 - 3.7160 5.4376 4.0994 5.0103 4.6123 5.3790 6.2093 5.7722 5.3278 5.4157 - 4.0921 5.1593 4.1141 4.6660 4.3851 5.3644 6.0140 5.9212 5.0543 4.9956 - 4.4804 4.9029 4.3265 4.4145 4.2020 5.4523 5.7014 6.0555 4.7002 4.8613 - 4.8149 4.5878 4.6440 4.2020 4.0262 5.5671 5.4694 5.9627 4.3949 4.9029 - 5.0543 4.5024 4.9712 4.0482 3.9041 5.6721 5.4792 5.6428 4.1800 5.1031 - 5.3033 4.5952 5.1593 4.0799 3.7746 5.7698 5.5573 5.4352 4.0433 5.3644 - 5.4865 4.8247 5.3888 4.1898 3.6916 5.8308 5.7282 5.3888 3.8772 5.5964 - 5.6721 5.0640 5.5768 4.1312 3.8455 5.9236 5.8821 5.5378 3.7527 5.7527 - 5.7795 5.2716 5.6525 4.0042 4.2020 5.9651 5.9847 5.6818 3.7282 5.8455 - 5.7991 5.4670 5.8039 3.9163 4.5854 6.0579 5.9016 5.7014 3.8699 5.9285 - 5.6648 5.6159 5.9138 3.9602 4.9029 6.0506 5.5817 5.6159 4.2069 6.0066 - 5.2911 5.5280 5.8870 4.1996 5.2569 6.0726 5.3717 5.6672 4.3558 5.8406 - 4.8809 5.2545 5.7991 4.6245 5.5109 6.1116 5.4181 5.7405 4.4267 5.5182 - 4.5585 4.8833 5.7307 4.8833 5.6403 6.0701 5.5109 5.8039 4.4535 5.1739 - 4.1849 4.5170 5.7624 5.1373 5.8430 5.8967 5.6672 5.8821 4.5219 4.7392 - 3.8894 4.1971 5.8137 5.3790 5.9749 5.7551 5.7917 5.9505 4.3925 4.4584 - 3.7087 4.0018 5.8210 5.6232 5.9358 5.7185 5.6989 6.0726 4.1556 4.4267 - 3.6232 3.8064 5.9285 5.7624 5.8210 5.8210 5.4840 6.1483 3.9651 4.6025 - 3.5695 3.9041 6.0140 5.8333 5.5280 6.0018 5.1544 6.1165 3.8772 4.8223 - 3.7185 3.9236 5.7649 5.6867 5.1715 6.0018 4.9810 6.1776 3.9700 5.1837 - 4.0335 3.8699 5.4132 5.3668 4.8101 5.9016 5.0616 6.2020 4.2582 5.4303 - 4.4120 3.8064 5.0982 5.2252 4.4535 5.5573 5.1959 6.2069 4.4218 5.6525 - 4.6293 3.7209 4.6782 5.2398 4.3803 5.1739 5.3595 5.9920 4.3363 5.8210 - 4.5585 3.8186 4.3729 5.3546 4.5659 4.8003 5.6159 5.5646 4.2997 5.7063 - 4.3949 4.1409 4.3925 5.5085 4.8052 4.4315 5.7624 5.1788 4.3925 5.3693 - 4.1800 4.5292 4.5903 5.5964 5.1251 4.1947 5.8577 4.9981 4.6757 5.0274 - 4.1971 4.8052 4.9199 5.7527 5.3546 4.0066 5.9480 5.0518 4.7612 4.7050 - 4.4315 5.0860 5.0176 5.8748 5.5891 3.8503 5.8357 5.2325 4.6587 4.4145 - 4.7148 5.3400 4.8589 5.9065 5.7649 3.7478 5.7063 5.4840 4.4902 4.1458 - 4.9615 5.5329 4.6757 5.8943 5.9236 3.6428 5.4987 5.6867 4.3070 3.9651 - 5.3009 5.5768 4.6196 5.7429 5.9407 3.5915 5.1886 5.8992 4.1263 4.0335 - 5.5671 5.6672 4.8345 5.4474 5.8577 3.5695 5.1177 5.8699 3.9724 4.3729 - 5.6818 5.7917 5.0909 5.0250 5.6941 3.5280 5.1910 5.9773 4.0775 4.6831 ](:); - - - - U = [ 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 - 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 - 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 - 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 - 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 - 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 - 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 - 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 - 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 - 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 - 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 - 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 - 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 - 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 3.4100 - 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 - 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 - 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 - 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 - 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 - 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 - 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 - 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 - 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 - 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 - 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 - 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 - 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 - 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 - 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 - 3.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 - 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 3.4100 - 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 - 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 - 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 - 3.4100 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 3.4100 - 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 - 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 6.4100 - 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 6.4100 - 6.4100 3.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 - 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 - 3.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 3.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 3.4100 - 3.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 6.4100 3.4100 - 6.4100 6.4100 6.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 - 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 - 6.4100 6.4100 3.4100 6.4100 6.4100 3.4100 3.4100 6.4100 3.4100 3.4100 - 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 3.4100 6.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 3.4100 3.4100 6.4100 6.4100 3.4100 6.4100 - 6.4100 6.4100 6.4100 3.4100 6.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 6.4100 3.4100 3.4100 6.4100 6.4100 6.4100 6.4100 - 3.4100 6.4100 6.4100 3.4100 3.4100 3.4100 3.4100 6.4100 6.4100 6.4100 ](:); - - - DAT = iddata (Y, U); - - [SYS, X0, INFO] = moen4 (DAT, "s", 15, "rcond", 0.0, "tol", -1.0, "confirm", false); - - Ae = [ 0.8924 0.3887 0.1285 0.1716 - -0.0837 0.6186 -0.6273 -0.4582 - 0.0052 0.1307 0.6685 -0.6755 - 0.0055 0.0734 -0.2148 0.4788 ]; - - Ce = [ -0.4442 0.6663 0.3961 0.4102 ]; - - Be = [ -0.2142 - -0.1968 - 0.0525 - 0.0361 ]; - - De = [ -0.0041 ]; - - Ke = [ -1.9513 - -0.1867 - 0.6348 - -0.3486 ]; - - Qe = [ 0.0052 0.0005 -0.0017 0.0009 - 0.0005 0.0000 -0.0002 0.0001 - -0.0017 -0.0002 0.0006 -0.0003 - 0.0009 0.0001 -0.0003 0.0002 ]; - - Rye = [ 0.0012 ]; - - Se = [ -0.0025 - -0.0002 - 0.0008 - -0.0005 ]; - - X0e = [ -11.496422 - -0.718576 - -0.014211 - 0.500073 ]; # X0e is not from SLICOT - - ## The SLICOT test for IB01CD uses COMUSE=C, not COMUSE=U. - ## This means that they don't use the matrices B and D - ## computed by IB01BD. They use only A and C from IB01BD, - ## while B and D are from SLICOT routine IB01CD. - ## Therefore they get slightly different matrices B and D - ## and finally a different initial state vector X0. - -***** assert (SYS.A, Ae, 1e-4); -***** assert (SYS.B, Be, 1e-4); -***** assert (SYS.C, Ce, 1e-4); -***** assert (SYS.D, De, 1e-4); -***** assert (INFO.K, Ke, 1e-4); -***** assert (INFO.Q, Qe, 1e-4); -***** assert (INFO.Ry, Rye, 1e-4); -***** assert (INFO.S, Se, 1e-4); -***** assert (X0, X0e, 1e-4); -***** shared SYS, Ae, Be, Ce, De - U = [ -811 -592 421 -680 -681 - -812 -619 477 -685 -651 - -817 -565 538 -678 -677 - -695 -725 536 -674 -702 - -697 -571 531 -676 -685 - -697 -618 533 -681 -721 - -702 -579 549 -677 -699 - -703 -487 575 -677 -694 - -705 -449 561 -679 -678 - -705 -431 563 -680 -692 - -707 -502 561 -679 -686 - -707 -583 530 -676 -751 - -710 -458 540 -677 -700 - -713 -469 543 -679 -731 - -715 -506 549 -684 -635 - -713 -590 532 -681 -715 - -714 -582 528 -676 -696 - -713 -575 538 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381 - -92 171 371 - -40 178 356 - -15 185 353 - -27 170 359 - 15 173 351 - 23 175 356 - 44 178 338 - 47 171 323 - 4 153 294 - 23 141 295 - 39 141 306 - 52 139 313 - 53 142 313 - 69 142 312 - 74 136 306 - 196 164 277 - 347 208 133 - 461 230 -58 - 526 204 -251 - 581 161 -385 - 588 119 -458 - 549 63 -528 - 497 5 -550 - 420 -20 -498 - 327 -49 -464 - 198 -78 -438 - 154 -80 -409 - 130 -60 -377 ]; - - DAT = iddata (Y, U, 1228.8); - - [SYS, X0] = moen4 (DAT, "s", 10, "n", 8, "rcond", 0.0, "tol", -1.0); - - Ae = [ 0.9811 0.0574 0.3270 0.0003 0.0358 0.0403 -0.1366 0.0276 - 0.1043 0.7634 -0.1308 0.2252 0.0203 -0.0117 -0.2328 -0.2516 - -0.0612 0.1437 0.8378 -0.2400 0.0367 -0.3205 -0.0367 -0.0978 - -0.0213 0.0149 0.0706 0.8902 0.2415 -0.1329 0.3080 -0.0143 - -0.0076 0.0680 0.0557 -0.0469 0.7084 0.2852 0.2565 0.1508 - -0.0016 0.0603 0.0071 -0.0448 -0.0870 0.8608 0.1495 -0.1148 - 0.0046 0.0120 0.0040 -0.0272 0.0117 -0.0654 0.8348 -0.4557 - -0.0058 0.0133 -0.0112 -0.0171 -0.0353 -0.0892 0.3328 0.7650 ]; - - Ce = [ -0.1635 0.6294 0.1157 -0.2129 0.0812 -0.0238 0.0745 0.2027 - 0.1775 0.1736 -0.2839 -0.0750 -0.4986 -0.1254 0.3740 0.1598 - 0.2012 -0.0045 -0.4447 -0.3289 0.4767 -0.3377 0.0200 -0.0978 ]; - - Be = [ -0.0436 0.1911 -0.1345 0.0409 0.2828 - 0.5541 -0.4223 0.0001 -0.0151 -0.1778 - -0.3644 0.2868 0.0754 -0.0457 -0.1691 - -0.0372 0.1270 -0.0772 -0.0714 -0.0255 - -0.1251 -0.0021 0.1094 0.0576 0.2121 - -0.1372 0.1139 0.0030 0.0141 0.0493 - -0.0187 0.0712 -0.0042 0.0075 -0.0221 - -0.0834 0.0509 0.0322 -0.0089 0.0009 ]; - - De = [ 0.1581 -0.3111 -0.0350 0.0179 -0.1403 - -0.0037 -0.0461 -0.1177 0.0092 -0.0242 - 0.0476 -0.0237 -0.0159 0.0174 0.0464 ]; - - # Since moen4 identifies the input/output behavior only - # input/output behavior is tested using n first Markov parameters. - # The state space representaton might have different signs - # of the states. - # By multiplying the matrices for the Markov parameters, numeric errors - # would propagate, therefor the accuracy of the results are limited to - # the accuracy of the given expected results - - [Ao,Bo,Co,Do] = ssdata (SYS); - Ao = round (Ao*1e4)/1e4; - Bo = round (Bo*1e4)/1e4; - Co = round (Co*1e4)/1e4; - Do = round (Do*1e4)/1e4; - - n = size(Ao,1); - m = size(Bo,2); - p = size(Co,1); - Mo = zeros (p,(n+1)*m); - Me = zeros (p,(n+1)*m); - Mo(:,1:m) = Do; - Me(:,1:m) = De; - - Aoi = eye (n,n); - Aei = eye (n,n); - for i = 1:n - Mo(:,i*m+1:(i+1)*m) = Co*Aoi*Bo; - Me(:,i*m+1:(i+1)*m) = Ce*Aei*Be; - Aoi = Aoi*Ao; - Aei = Aei*Ae; - endfor + n = size(Ao,1); + m = size(Bo,2); + p = size(Co,1); + Mo = zeros (p,(n+1)*m); + Me = zeros (p,(n+1)*m); + Mo(:,1:m) = Do; + Me(:,1:m) = De; + + Aoi = eye (n,n); + Aei = eye (n,n); + for i = 1:n + Mo(:,i*m+1:(i+1)*m) = Co*Aoi*Bo; + Me(:,i*m+1:(i+1)*m) = Ce*Aei*Be; + Aoi = Aoi*Ao; + Aei = Aei*Ae; + endfor assert (Mo, Me, 1e-4); ***** shared SYS, Ae, Be, Ce, De @@ -10967,115 +7158,3428 @@ assert (Mo, Me, 1e-3); 9 tests, 9 passed, 0 known failure, 0 skipped -[inst/db2mag.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/db2mag.m -***** assert (db2mag (40), 100); -***** assert (db2mag (-20), 0.1); +[inst/ctrb.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/ctrb.m +***** assert (ctrb ([1, 0; 0, -0.5], [8; 8]), [8, 8; 8, -4]); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/obsv.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/obsv.m +***** assert (obsv ([1, 0; 0, -0.5], [8, 8]), [8, 8; 8, -4]); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/bode.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/bode.m +***** demo + s = tf('s'); + g = 1/(2*s^2+3*s+4); + bode(g); +***** test + s = tf('s'); + K = 1; + T = 2; + g = K/(1+T*s); + [mag phas w] = bode(g); + mag_dB = 20*log10(mag); + index = find(mag_dB < -3,1); + w_cutoff = w(index); + assert (1/T, w_cutoff, eps); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/hnamodred.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/hnamodred.m +***** shared Mo, Me, Info, HSVe + A = [ -3.8637 -7.4641 -9.1416 -7.4641 -3.8637 -1.0000 + 1.0000, 0 0 0 0 0 + 0 1.0000 0 0 0 0 + 0 0 1.0000 0 0 0 + 0 0 0 1.0000 0 0 + 0 0 0 0 1.0000 0 ]; + + B = [ 1 + 0 + 0 + 0 + 0 + 0 ]; + + C = [ 0 0 0 0 0 1 ]; + + D = [ 0 ]; + + G = ss (A, B, C, D); # "scaled", false + + AV = [ 0.2000 -1.0000 + 1.0000 0 ]; + + BV = [ 1 + 0 ]; + + CV = [ -1.8000 0 ]; + + DV = [ 1 ]; + + V = ss (AV, BV, CV, DV); + + [Gr, Info] = hnamodred (G, "left", V, "tol1", 1e-1, "tol2", 1e-14); + [Ao, Bo, Co, Do] = ssdata (Gr); + + Ae = [ -0.2391 0.3072 1.1630 1.1967 + -2.9709 -0.2391 2.6270 3.1027 + 0.0000 0.0000 -0.5137 -1.2842 + 0.0000 0.0000 0.1519 -0.5137 ]; + + Be = [ -1.0497 + -3.7052 + 0.8223 + 0.7435 ]; + + Ce = [ -0.4466 0.0143 -0.4780 -0.2013 ]; + + De = [ 0.0219 ]; + + # Since hnamodred approximates the input/output behavior only + # input/output behavior is tested using n first Markov parameters. + # The state space representaton might have different signs + # of the states. + # By multiplying the matrices for the Markov parameters, numeric errors + # would propagate, therefor the accuracy of the results are limited to + # the accuracy of the given expected results + + [Ao,Bo,Co,Do] = ssdata (Gr); + Ao = round (Ao*1e4)/1e4; + Bo = round (Bo*1e4)/1e4; + Co = round (Co*1e4)/1e4; + Do = round (Do*1e4)/1e4; + + n = size(Ao,1); + m = size(Bo,2); + p = size(Co,1); + Mo = zeros (p,(n+1)*m); + Me = zeros (p,(n+1)*m); + Mo(:,1:m) = Do; + Me(:,1:m) = De; + + Aoi = eye (n,n); + Aei = eye (n,n); + for i = 1:n + Mo(:,i*m+1:(i+1)*m) = Co*Aoi*Bo; + Me(:,i*m+1:(i+1)*m) = Ce*Aei*Be; + Aoi = Aoi*Ao; + Aei = Aei*Ae; + endfor + + HSVe = [ 2.6790 2.1589 0.8424 0.1929 0.0219 0.0011 ].'; + +***** assert (Mo, Me, 1e-3); +***** assert (Info.hsv, HSVe, 1e-4); 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/esort.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/esort.m -***** shared s_exp, ndx_exp, s_obs, ndx_obs - p = [-0.2410+0.5573i; - -0.2410-0.5573i; - 0.1503; - -0.0972; - -0.2590]; - s_exp = [ 0.1503; - -0.0972; - -0.2410+0.5573i; - -0.2410-0.5573i; - -0.2590]; - ndx_exp = [ 3; - 4; - 1; - 2; - 5]; - [s_obs, ndx_obs] = esort(p); -***** assert(s_obs, s_exp, 0); -***** assert(ndx_obs, ndx_exp, 0); +[inst/dlyapchol.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/dlyapchol.m +***** shared U, U_exp + + A = [ 0.5000 0.5000 -0.5000 + 0.0000 1.0000 -0.5000 + 1.0000 -0.5000 0.0000 ]; + + B = [ -2.0 ; 1.0 ; -1.0 ]; + + U = dlyapchol (A, B); + + U_exp = [ 5.6042 5.1284 1.9562 + 0.0000 3.4313 -1.6716 + 0.0000 0.0000 2.5621 ]; + +***** assert (U, U_exp, 1e-4); +***** shared U, U_exp + + A = [ 0.5000 0.5000 -0.5000 + 0.0000 1.0000 -0.5000 + 1.0000 -0.5000 0.0000 ]; + + B = [ -2.0 ; 1.0 ; -1.0 ]; + + E = [ 2.0000 0.0000 0.0000 + 0.0000 2.0000 0.0000 + 0.0000 0.0000 2.0000 ]; + + U = dlyapchol (A, B, E); + + U_exp = [ 1.0488 -0.3546 0.4644 + 0.0000 0.6560 -0.5187 + 0.0000 0.0000 0.4099 ]; + +***** assert (U, U_exp, 1e-4); 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/lqi.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqi.m +[inst/cfconred.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/cfconred.m +***** shared Mo, Me, Info, HSVe + A = [ 0 1.0000 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 + 0 0 -0.0150 0.7650 0 0 0 0 + 0 0 -0.7650 -0.0150 0 0 0 0 + 0 0 0 0 -0.0280 1.4100 0 0 + 0 0 0 0 -1.4100 -0.0280 0 0 + 0 0 0 0 0 0 -0.0400 1.850 + 0 0 0 0 0 0 -1.8500 -0.040 ]; + + B = [ 0.0260 + -0.2510 + 0.0330 + -0.8860 + -4.0170 + 0.1450 + 3.6040 + 0.2800 ]; + + C = [ -.996 -.105 0.261 .009 -.001 -.043 0.002 -0.026 ]; + + D = [ 0.0 ]; + + G = ss (A, B, C, D); % "scaled", false + + F = [ 4.4721e-002 6.6105e-001 4.6986e-003 3.6014e-001 1.0325e-001 -3.7541e-002 -4.2685e-002 3.2873e-002 ]; + + L = [ 4.1089e-001 + 8.6846e-002 + 3.8523e-004 + -3.6194e-003 + -8.8037e-003 + 8.4205e-003 + 1.2349e-003 + 4.2632e-003 ]; + + [Kr, Info] = cfconred (G, F, L, 4, "method", "bfsr-bta", "cf", "left", "feedback", "+"); + [Ao, Bo, Co, Do] = ssdata (Kr); + + Ae = [ 5.9461e-01 -7.3360e-01 1.9139e-01 -3.3685e-01 + 5.9599e-01 -1.8394e-02 -1.0883e-01 2.0703e-02 + 1.2253e+00 2.0431e-01 1.0090e-01 -1.4948e+00 + -3.3005e-02 -2.4264e-02 1.3440e+00 3.5040e-03 ]; + + Be = [ 1.4615e-03 + -2.0156e-02 + 1.5922e-02 + -5.4442e-02 ]; + + Ce = [ 0.353400 0.027400 0.033700 -0.032000 ]; + + De = [ 0.0000 ]; + + HSVe = [ 4.9078 4.8745 3.8455 3.7811 1.2289 1.1785 0.5176 0.1148 ].'; + + Mo = [Do, Co*Bo, Co*Ao*Bo, Co*Ao^2*Bo, Co*Ao^3*Bo, Co*Ao^4*Bo]; + Me = [De, Ce*Be, Ce*Ae*Be, Ce*Ae^2*Be, Ce*Ae^3*Be, Ce*Ae^4*Be]; + +***** assert (Mo, Me, 1e-4); +***** assert (Info.hsv, HSVe, 1e-4); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/reg.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/reg.m +***** test + G = zpk([],[-10 -1 -100], 2000); + sys = ss(G); + [n, m] = size(sys.b); + [p, ~] = size(sys.c); + Q = eye(3); + R = 1; + S = zeros(3, 1); + W = eye(3); + V = 1; + N = zeros(3, 1); + K = lqr(sys, Q, R, S); + Bn = [sys.b eye(n)]; + sys_noisy = ss(sys.a, Bn, sys.c, sys.d, sys.ts); + [est, L1, ~] = kalman(sys_noisy, W, V, N, 1:p, 1:m); + Creg = reg(sys, K, L1); + assert(real(eig(feedback(Creg, sys, 1)))<0); + Ts = 0.01; + Gz = zpk([],[-0.1 0.05 0.004], 3, Ts); + sysz = ss(Gz); + kz = lqr(sysz, Q, R, S); + Bn = [sysz.b eye(n)]; + sys_noisyz = ss(sysz.a, Bn, sysz.c, sysz.d, sysz.ts); + [estz, L1z, ~] = kalman(sys_noisyz, W, V, N, 1:p, 1:m); + Cz = reg(sysz, kz, L1z); + assert(abs(eig(feedback(Cz,sysz,1)))<1); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/lqry.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lqry.m ***** test A = [1 -1; 0 -5]; B = [0;1]; C = [1 0]; D = 0; sys = ss(A,B,C,D); - [g, x, l] = lqi(sys,eye(3),1); - assert(l<0,'lqi error') + g = lqry(sys,10,1,1); + assert(eig(A-B*g)<0,'lqry error') 1 test, 1 passed, 0 known failure, 0 skipped -[inst/obsv.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/obsv.m -***** assert (obsv ([1, 0; 0, -0.5], [8, 8]), [8, 8; 8, -4]); +[inst/ltimodels.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/ltimodels.m +***** shared ltisys + ltisys = tf (12); +***** assert (ltisys.ts, 0); +***** assert (isstaticgain (ltisys)); +***** assert (isct (ltisys)); +***** assert (! isdt (ltisys)); +***** shared ltisys + ltisys = ss (17); +***** assert (ltisys.ts, 0); +***** assert (isstaticgain (ltisys)); +***** assert (! isdt (ltisys)); +***** assert (isct (ltisys)); +***** shared ltisys + ltisys = tf ({[0 9],[0 0 10]},{2,5},2); +***** assert (ltisys.ts, 2); +***** assert (isstaticgain (ltisys)); +***** assert (isdt (ltisys)); +***** assert (! isct (ltisys)); +***** shared ltisys + ltisys = tf (1, [1 1]); +***** assert (ltisys.ts, 0); +***** assert (isct (ltisys)); +***** assert (! isdt (ltisys)); +***** shared ltisys, ts + ts = 0.1; + ltisys = ss (-1, 1, 1, 0, ts); +***** assert (ltisys.ts, ts); +***** assert (! isct (ltisys)); +***** assert (isdt (ltisys)); +***** shared ltisys + ltisys = ss ([],[],[], 3); +***** assert (ltisys.ts, 0); +***** assert (isstaticgain (ltisys)); +***** assert (isct (ltisys)); +***** assert (! isdt (ltisys)); +***** shared Ac, Bc, Ace, Bce + A = [ 17.0 24.0 1.0 8.0 15.0 + 23.0 5.0 7.0 14.0 16.0 + 4.0 6.0 13.0 20.0 22.0 + 10.0 12.0 19.0 21.0 3.0 + 11.0 18.0 25.0 2.0 9.0 ]; + + B = [ -1.0 -4.0 + 4.0 9.0 + -9.0 -16.0 + 16.0 25.0 + -25.0 -36.0 ]; + + tol = 0; + + A = A.'; # There's a little mistake in the example + # program of routine AB01OD in SLICOT 5.0 + + [Ac, Bc, U, ncont] = __sl_ab01od__ (A, B, tol); + + Ace = [ 12.8848 3.2345 11.8211 3.3758 -0.8982 + 4.4741 -12.5544 5.3509 5.9403 1.4360 + 14.4576 7.6855 23.1452 26.3872 -29.9557 + 0.0000 1.4805 27.4668 22.6564 -0.0072 + 0.0000 0.0000 -30.4822 0.6745 18.8680 ]; + + Bce = [ 31.1199 47.6865 + 3.2480 0.0000 + 0.0000 0.0000 + 0.0000 0.0000 + 0.0000 0.0000 ]; + +***** assert <45008> (Ac, Ace, 1e-4); +***** assert (Bc, Bce, 1e-4); +***** shared ac, ec, bc, cc, q, z, ncont, ac_e, ec_e, bc_e, cc_e, q_e, z_e, ncont_e + + a = [ 2 0 2 0 -1 3 1 + 0 1 0 0 1 0 0 + 0 0 0 1 0 0 1 + 0 0 2 0 -1 3 1 + 0 0 0 1 0 0 1 + 0 1 0 0 1 0 0 + 0 0 0 1 0 0 1 ]; + + e = [ 0 0 1 0 0 0 0 + 0 0 0 0 0 1 0 + 0 0 0 0 0 0 1 + 0 0 0 0 0 0 1 + 0 0 0 1 0 0 0 + 0 0 1 0 -1 0 0 + 1 3 0 2 0 0 0 ]; + + b = [ 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 1 2 3 ]; + + c = [ 1 0 0 1 0 0 1 + 0 -1 1 0 -1 1 0 ]; + + tol = 0; + + [ac, ec, bc, cc, q, z, ncont] = __sl_tg01hd__ (a, e, b, c, tol); + + ncont_e = 3; + + ac_e = [ 0.0000 0.0000 0.0000 0.0000 -1.2627 0.4334 0.4666 + 0.0000 2.0000 0.0000 -3.7417 -0.8520 0.2924 -0.4342 + 0.0000 0.0000 1.7862 0.3780 -0.2651 -0.7723 0.0000 + 0.0000 0.0000 0.0000 3.7417 0.8520 -0.2924 0.4342 + 0.0000 0.0000 0.0000 0.0000 -1.5540 0.5334 0.5742 + 0.0000 0.0000 0.0000 0.0000 -0.6533 0.2242 0.2414 + 0.0000 0.0000 0.0000 0.0000 -0.5892 0.2022 0.2177 ]; + + ec_e = [ -1.8325 1.0000 2.3752 0.0000 -0.8214 0.2819 1.8016 + 0.4887 0.0000 0.3770 -0.5345 0.1874 0.5461 0.0000 + -0.1728 0.0000 -0.1333 -1.1339 0.1325 0.3861 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.8520 -0.2924 0.4342 + 0.0000 0.0000 0.0000 0.0000 -1.0260 -0.1496 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 1.1937 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ]; + + bc_e = [ 1.0000 2.0000 3.0000 + 2.0000 1.0000 0.0000 + 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 ]; + + cc_e = [ 0.0000 1.0000 0.0000 0.0000 -1.2627 0.4334 0.4666 + 0.3665 0.0000 -0.9803 -1.6036 0.1874 0.5461 0.0000 ]; + + q_e = [ 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.7071 0.0000 0.2740 -0.6519 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.8304 0.3491 -0.4342 + 0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.4003 0.1683 0.9008 + 0.0000 0.0000 0.7071 0.0000 -0.2740 0.6519 0.0000 + 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 ]; + + z_e = [ 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + -0.6108 0.0000 0.7917 0.0000 0.0000 0.0000 0.0000 + 0.4887 0.0000 0.3770 -0.5345 0.1874 0.5461 0.0000 + 0.0000 0.0000 0.0000 0.0000 -0.4107 0.1410 0.9008 + 0.6108 0.0000 0.4713 0.2673 -0.1874 -0.5461 0.0000 + -0.1222 0.0000 -0.0943 -0.8018 -0.1874 -0.5461 0.0000 + 0.0000 0.0000 0.0000 0.0000 -0.8520 0.2924 -0.4342 ]; + +***** assert <45008> (ac, ac_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (ac,ac_e,1e-4) + + Location | Observed | Expected | Reason + (3,4) -0.37796 0.378 Abs err 0.75596 exceeds tol 0.0001 by 0.8 + (1,5) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 + (2,5) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (3,5) 0.096625 -0.2651 Abs err 0.36172 exceeds tol 0.0001 by 0.4 + (4,5) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (5,5) 1.6572 -1.554 Abs err 3.2112 exceeds tol 0.0001 by 3 + (6,5) -0.59595 -0.6533 Abs err 0.057353 exceeds tol 0.0001 by 0.06 + (7,5) 0.47386 -0.5892 Abs err 1.0631 exceeds tol 0.0001 by 1 + (1,6) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 + (2,6) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (3,6) 0.23131 -0.7723 Abs err 1.0036 exceeds tol 0.0001 by 1 + (4,6) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (5,6) 0.63317 0.5334 Abs err 0.099775 exceeds tol 0.0001 by 0.1 + (6,6) -0.2277 0.2242 Abs err 0.4519 exceeds tol 0.0001 by 0.5 + (7,6) 0.18105 0.2022 Abs err 0.021146 exceeds tol 0.0001 by 0.02 + (1,7) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 + (2,7) -4.996e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (3,7) -0.77706 0 Abs err 0.77706 exceeds tol 0.0001 by 0.8 + (4,7) 1.572e-15 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (5,7) 0.39454 0.5742 Abs err 0.17966 exceeds tol 0.0001 by 0.2 + (6,7) -0.14188 0.2414 Abs err 0.38328 exceeds tol 0.0001 by 0.4 + (7,7) 0.11282 0.2177 Abs err 0.10488 exceeds tol 0.0001 by 0.1 +shared variables + ac = + + -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 + 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 + 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 + 0 0 0 3.7417 0.9227 -0.3854 0.0000 + 0 0 0 -0.0000 1.6572 0.6332 0.3945 + 0 0 0 0 -0.5959 -0.2277 -0.1419 + 0 0 0 0 0.4739 0.1811 0.1128 + + ec = + + -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 + 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 + 0 0 0 0 1.0035 0.0167 -0.0561 + 0 0 0 0 0 -1.0197 0.1313 + 0 0 0 0 0 0 1.1969 + + bc = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc = + + Columns 1 through 5: + + -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 + 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 + + Columns 6 and 7: + + -4.9272e-01 -3.0702e-01 + 1.6356e-01 -5.4947e-01 + + q = + + 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 + 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 + 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 + 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 + 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 + 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 + 1.0000 0 0 0 0 0 0 + + z = + + 0.0000 1.0000 0 0 0 0 0 + -0.6108 0.0000 -0.7917 0.0000 0 0 0 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 + 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 + -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 + -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 + + ncont = 3 + ac_e = + + 0 0 0 0 -1.2627 0.4334 0.4666 + 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 + 0 0 1.7862 0.3780 -0.2651 -0.7723 0 + 0 0 0 3.7417 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.5540 0.5334 0.5742 + 0 0 0 0 -0.6533 0.2242 0.2414 + 0 0 0 0 -0.5892 0.2022 0.2177 + + ec_e = + + -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 + 0 0 0 0 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.0260 -0.1496 0 + 0 0 0 0 0 1.1937 0 + 0 0 0 0 0 0 1.0000 + + bc_e = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc_e = + + 0 1.0000 0 0 -1.2627 0.4334 0.4666 + 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 + + q_e = + + 0 1.0000 0 0 0 0 0 + 0 0 0.7071 0 0.2740 -0.6519 0 + 0 0 0 0 0.8304 0.3491 -0.4342 + 0 0 0 -1.0000 0 0 0 + 0 0 0 0 0.4003 0.1683 0.9008 + 0 0 0.7071 0 -0.2740 0.6519 0 + 1.0000 0 0 0 0 0 0 + + z_e = + + 0 1.0000 0 0 0 0 0 + -0.6108 0 0.7917 0 0 0 0 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + 0 0 0 0 -0.4107 0.1410 0.9008 + 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 + -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 + 0 0 0 0 -0.8520 0.2924 -0.4342 + + ncont_e = 3 +***** assert <45008> (ec, ec_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (ec,ec_e,1e-4) + + Location | Observed | Expected | Reason + (3,1) 0.17277 -0.1728 Abs err 0.34557 exceeds tol 0.0001 by 0.3 + (1,3) -2.3752 2.3752 Abs err 4.7504 exceeds tol 0.0001 by 5 + (2,3) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 + (3,4) 1.1339 -1.1339 Abs err 2.2678 exceeds tol 0.0001 by 2 + (1,5) -0.73367 -0.8214 Abs err 0.087735 exceeds tol 0.0001 by 0.09 + (2,5) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (3,5) -0.048312 0.1325 Abs err 0.18081 exceeds tol 0.0001 by 0.2 + (4,5) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (5,5) 1.0035 -1.026 Abs err 2.0295 exceeds tol 0.0001 by 2 + (1,6) -1.7563 0.2819 Abs err 2.0382 exceeds tol 0.0001 by 2 + (2,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (3,6) -0.11566 0.3861 Abs err 0.50176 exceeds tol 0.0001 by 0.5 + (4,6) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (5,6) 0.016704 -0.1496 Abs err 0.1663 exceeds tol 0.0001 by 0.2 + (6,6) -1.0197 1.1937 Abs err 2.2134 exceeds tol 0.0001 by 2 + (1,7) -0.61404 1.8016 Abs err 2.4156 exceeds tol 0.0001 by 2 + (2,7) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (3,7) 0.38853 0 Abs err 0.38853 exceeds tol 0.0001 by 0.4 + (4,7) -4.5292e-16 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (5,7) -0.056116 0 Abs err 0.056116 exceeds tol 0.0001 by 0.06 + (6,7) 0.13128 0 Abs err 0.13128 exceeds tol 0.0001 by 0.1 + (7,7) 1.1969 1 Abs err 0.19687 exceeds tol 0.0001 by 0.2 +shared variables + ac = + + -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 + 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 + 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 + 0 0 0 3.7417 0.9227 -0.3854 0.0000 + 0 0 0 -0.0000 1.6572 0.6332 0.3945 + 0 0 0 0 -0.5959 -0.2277 -0.1419 + 0 0 0 0 0.4739 0.1811 0.1128 + + ec = + + -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 + 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 + 0 0 0 0 1.0035 0.0167 -0.0561 + 0 0 0 0 0 -1.0197 0.1313 + 0 0 0 0 0 0 1.1969 + + bc = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc = + + Columns 1 through 5: + + -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 + 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 + + Columns 6 and 7: + + -4.9272e-01 -3.0702e-01 + 1.6356e-01 -5.4947e-01 + + q = + + 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 + 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 + 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 + 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 + 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 + 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 + 1.0000 0 0 0 0 0 0 + + z = + + 0.0000 1.0000 0 0 0 0 0 + -0.6108 0.0000 -0.7917 0.0000 0 0 0 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 + 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 + -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 + -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 + + ncont = 3 + ac_e = + + 0 0 0 0 -1.2627 0.4334 0.4666 + 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 + 0 0 1.7862 0.3780 -0.2651 -0.7723 0 + 0 0 0 3.7417 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.5540 0.5334 0.5742 + 0 0 0 0 -0.6533 0.2242 0.2414 + 0 0 0 0 -0.5892 0.2022 0.2177 + + ec_e = + + -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 + 0 0 0 0 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.0260 -0.1496 0 + 0 0 0 0 0 1.1937 0 + 0 0 0 0 0 0 1.0000 + + bc_e = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc_e = + + 0 1.0000 0 0 -1.2627 0.4334 0.4666 + 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 + + q_e = + + 0 1.0000 0 0 0 0 0 + 0 0 0.7071 0 0.2740 -0.6519 0 + 0 0 0 0 0.8304 0.3491 -0.4342 + 0 0 0 -1.0000 0 0 0 + 0 0 0 0 0.4003 0.1683 0.9008 + 0 0 0.7071 0 -0.2740 0.6519 0 + 1.0000 0 0 0 0 0 0 + + z_e = + + 0 1.0000 0 0 0 0 0 + -0.6108 0 0.7917 0 0 0 0 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + 0 0 0 0 -0.4107 0.1410 0.9008 + 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 + -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 + 0 0 0 0 -0.8520 0.2924 -0.4342 + + ncont_e = 3 +***** assert <45008> (bc, bc_e, 1e-4); +***** assert <45008> (cc, cc_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (cc,cc_e,1e-4) + + Location | Observed | Expected | Reason + (2,3) 0.98026 -0.9803 Abs err 1.9606 exceeds tol 0.0001 by 2 + (1,5) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 + (2,5) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (1,6) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 + (2,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (1,7) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 + (2,7) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 +shared variables + ac = + + -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 + 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 + 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 + 0 0 0 3.7417 0.9227 -0.3854 0.0000 + 0 0 0 -0.0000 1.6572 0.6332 0.3945 + 0 0 0 0 -0.5959 -0.2277 -0.1419 + 0 0 0 0 0.4739 0.1811 0.1128 + + ec = + + -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 + 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 + 0 0 0 0 1.0035 0.0167 -0.0561 + 0 0 0 0 0 -1.0197 0.1313 + 0 0 0 0 0 0 1.1969 + + bc = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc = + + Columns 1 through 5: + + -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 + 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 + + Columns 6 and 7: + + -4.9272e-01 -3.0702e-01 + 1.6356e-01 -5.4947e-01 + + q = + + 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 + 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 + 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 + 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 + 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 + 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 + 1.0000 0 0 0 0 0 0 + + z = + + 0.0000 1.0000 0 0 0 0 0 + -0.6108 0.0000 -0.7917 0.0000 0 0 0 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 + 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 + -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 + -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 + + ncont = 3 + ac_e = + + 0 0 0 0 -1.2627 0.4334 0.4666 + 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 + 0 0 1.7862 0.3780 -0.2651 -0.7723 0 + 0 0 0 3.7417 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.5540 0.5334 0.5742 + 0 0 0 0 -0.6533 0.2242 0.2414 + 0 0 0 0 -0.5892 0.2022 0.2177 + + ec_e = + + -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 + 0 0 0 0 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.0260 -0.1496 0 + 0 0 0 0 0 1.1937 0 + 0 0 0 0 0 0 1.0000 + + bc_e = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc_e = + + 0 1.0000 0 0 -1.2627 0.4334 0.4666 + 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 + + q_e = + + 0 1.0000 0 0 0 0 0 + 0 0 0.7071 0 0.2740 -0.6519 0 + 0 0 0 0 0.8304 0.3491 -0.4342 + 0 0 0 -1.0000 0 0 0 + 0 0 0 0 0.4003 0.1683 0.9008 + 0 0 0.7071 0 -0.2740 0.6519 0 + 1.0000 0 0 0 0 0 0 + + z_e = + + 0 1.0000 0 0 0 0 0 + -0.6108 0 0.7917 0 0 0 0 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + 0 0 0 0 -0.4107 0.1410 0.9008 + 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 + -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 + 0 0 0 0 -0.8520 0.2924 -0.4342 + + ncont_e = 3 +***** assert <45008> (q, q_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (q,q_e,1e-4) + + Location | Observed | Expected | Reason + (2,3) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 + (6,3) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 + (2,5) -0.10213 0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 + (3,5) -0.91952 0.8304 Abs err 1.7499 exceeds tol 0.0001 by 2 + (5,5) -0.36556 0.4003 Abs err 0.76586 exceeds tol 0.0001 by 0.8 + (6,5) 0.10213 -0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 + (2,6) 0.23892 -0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 + (3,6) -0.39305 0.3491 Abs err 0.74215 exceeds tol 0.0001 by 0.7 + (5,6) 0.85519 0.1683 Abs err 0.68689 exceeds tol 0.0001 by 0.7 + (6,6) -0.23892 0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 + (2,7) 0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 + (3,7) -1.143e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (5,7) -0.36746 0.9008 Abs err 1.2683 exceeds tol 0.0001 by 1 + (6,7) -0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 +shared variables + ac = + + -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 + 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 + 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 + 0 0 0 3.7417 0.9227 -0.3854 0.0000 + 0 0 0 -0.0000 1.6572 0.6332 0.3945 + 0 0 0 0 -0.5959 -0.2277 -0.1419 + 0 0 0 0 0.4739 0.1811 0.1128 + + ec = + + -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 + 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 + 0 0 0 0 1.0035 0.0167 -0.0561 + 0 0 0 0 0 -1.0197 0.1313 + 0 0 0 0 0 0 1.1969 + + bc = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc = + + Columns 1 through 5: + + -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 + 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 + + Columns 6 and 7: + + -4.9272e-01 -3.0702e-01 + 1.6356e-01 -5.4947e-01 + + q = + + 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 + 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 + 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 + 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 + 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 + 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 + 1.0000 0 0 0 0 0 0 + + z = + + 0.0000 1.0000 0 0 0 0 0 + -0.6108 0.0000 -0.7917 0.0000 0 0 0 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 + 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 + -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 + -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 + + ncont = 3 + ac_e = + + 0 0 0 0 -1.2627 0.4334 0.4666 + 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 + 0 0 1.7862 0.3780 -0.2651 -0.7723 0 + 0 0 0 3.7417 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.5540 0.5334 0.5742 + 0 0 0 0 -0.6533 0.2242 0.2414 + 0 0 0 0 -0.5892 0.2022 0.2177 + + ec_e = + + -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 + 0 0 0 0 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.0260 -0.1496 0 + 0 0 0 0 0 1.1937 0 + 0 0 0 0 0 0 1.0000 + + bc_e = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc_e = + + 0 1.0000 0 0 -1.2627 0.4334 0.4666 + 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 + + q_e = + + 0 1.0000 0 0 0 0 0 + 0 0 0.7071 0 0.2740 -0.6519 0 + 0 0 0 0 0.8304 0.3491 -0.4342 + 0 0 0 -1.0000 0 0 0 + 0 0 0 0 0.4003 0.1683 0.9008 + 0 0 0.7071 0 -0.2740 0.6519 0 + 1.0000 0 0 0 0 0 0 + + z_e = + + 0 1.0000 0 0 0 0 0 + -0.6108 0 0.7917 0 0 0 0 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + 0 0 0 0 -0.4107 0.1410 0.9008 + 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 + -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 + 0 0 0 0 -0.8520 0.2924 -0.4342 + + ncont_e = 3 +***** assert <45008> (z, z_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (z,z_e,1e-4) + + Location | Observed | Expected | Reason + (2,3) -0.79175 0.7917 Abs err 1.5834 exceeds tol 0.0001 by 2 + (3,3) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 + (5,3) -0.47128 0.4713 Abs err 0.94258 exceeds tol 0.0001 by 0.9 + (6,3) 0.094256 -0.0943 Abs err 0.18856 exceeds tol 0.0001 by 0.2 + (3,5) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (4,5) -0.36683 -0.4107 Abs err 0.043867 exceeds tol 0.0001 by 0.04 + (5,5) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (6,5) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (7,5) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (3,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (4,6) -0.87816 0.141 Abs err 1.0192 exceeds tol 0.0001 by 1 + (5,6) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (6,6) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (7,6) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (3,7) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (4,7) -0.30702 0.9008 Abs err 1.2078 exceeds tol 0.0001 by 1 + (5,7) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (6,7) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (7,7) -6.6466e-17 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 +shared variables + ac = + + -0.0000 0.0000 0.0000 0.0000 -1.2896 -0.4927 -0.3070 + 0 2.0000 -0.0000 -3.7417 -0.9227 0.3854 -0.0000 + 0 0 1.7862 -0.3780 0.0966 0.2313 -0.7771 + 0 0 0 3.7417 0.9227 -0.3854 0.0000 + 0 0 0 -0.0000 1.6572 0.6332 0.3945 + 0 0 0 0 -0.5959 -0.2277 -0.1419 + 0 0 0 0 0.4739 0.1811 0.1128 + + ec = + + -1.8325 1.0000 -2.3752 0.0000 -0.7337 -1.7563 -0.6140 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.1728 -0.0000 -0.1333 1.1339 -0.0483 -0.1157 0.3885 + 0 0 -0.0000 -0.0000 0.9227 -0.3854 -0.0000 + 0 0 0 0 1.0035 0.0167 -0.0561 + 0 0 0 0 0 -1.0197 0.1313 + 0 0 0 0 0 0 1.1969 + + bc = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc = + + Columns 1 through 5: + + -1.2948e-16 1.0000e+00 9.9893e-17 1.7834e-16 -1.2896e+00 + 3.6651e-01 -1.7636e-48 9.8026e-01 -1.6036e+00 6.8324e-02 + + Columns 6 and 7: + + -4.9272e-01 -3.0702e-01 + 1.6356e-01 -5.4947e-01 + + q = + + 0 1.0000 -0.0000 -0.0000 0.0000 0.0000 0 + 0 0.0000 -0.7071 0.0000 -0.1021 0.2389 0.6576 + 0 -0.0000 0.0000 -0.0000 -0.9195 -0.3931 -0.0000 + 0 0.0000 -0.0000 -1.0000 0.0000 0.0000 0.0000 + 0 0 0.0000 0.0000 -0.3656 0.8552 -0.3675 + 0 0.0000 -0.7071 0.0000 0.1021 -0.2389 -0.6576 + 1.0000 0 0 0 0 0 0 + + z = + + 0.0000 1.0000 0 0 0 0 0 + -0.6108 0.0000 -0.7917 0.0000 0 0 0 + 0.4887 -0.0000 -0.3770 -0.5345 0.0683 0.1636 -0.5495 + 0.0000 -0.0000 -0.0000 -0.0000 -0.3668 -0.8782 -0.3070 + 0.6108 -0.0000 -0.4713 0.2673 -0.0683 -0.1636 0.5495 + -0.1222 0.0000 0.0943 -0.8018 -0.0683 -0.1636 0.5495 + -0.0000 0.0000 0.0000 0.0000 -0.9227 0.3854 -0.0000 + + ncont = 3 + ac_e = + + 0 0 0 0 -1.2627 0.4334 0.4666 + 0 2.0000 0 -3.7417 -0.8520 0.2924 -0.4342 + 0 0 1.7862 0.3780 -0.2651 -0.7723 0 + 0 0 0 3.7417 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.5540 0.5334 0.5742 + 0 0 0 0 -0.6533 0.2242 0.2414 + 0 0 0 0 -0.5892 0.2022 0.2177 + + ec_e = + + -1.8325 1.0000 2.3752 0 -0.8214 0.2819 1.8016 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + -0.1728 0 -0.1333 -1.1339 0.1325 0.3861 0 + 0 0 0 0 0.8520 -0.2924 0.4342 + 0 0 0 0 -1.0260 -0.1496 0 + 0 0 0 0 0 1.1937 0 + 0 0 0 0 0 0 1.0000 + + bc_e = + + 1 2 3 + 2 1 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + cc_e = + + 0 1.0000 0 0 -1.2627 0.4334 0.4666 + 0.3665 0 -0.9803 -1.6036 0.1874 0.5461 0 + + q_e = + + 0 1.0000 0 0 0 0 0 + 0 0 0.7071 0 0.2740 -0.6519 0 + 0 0 0 0 0.8304 0.3491 -0.4342 + 0 0 0 -1.0000 0 0 0 + 0 0 0 0 0.4003 0.1683 0.9008 + 0 0 0.7071 0 -0.2740 0.6519 0 + 1.0000 0 0 0 0 0 0 + + z_e = + + 0 1.0000 0 0 0 0 0 + -0.6108 0 0.7917 0 0 0 0 + 0.4887 0 0.3770 -0.5345 0.1874 0.5461 0 + 0 0 0 0 -0.4107 0.1410 0.9008 + 0.6108 0 0.4713 0.2673 -0.1874 -0.5461 0 + -0.1222 0 -0.0943 -0.8018 -0.1874 -0.5461 0 + 0 0 0 0 -0.8520 0.2924 -0.4342 + + ncont_e = 3 +***** assert (ncont, ncont_e); +***** shared ao, eo, bo, co, q, z, nobsv, ao_e, eo_e, bo_e, co_e, q_e, z_e, nobsv_e + + a = [ 2 0 0 0 0 0 0 + 0 1 0 0 0 1 0 + 2 0 0 2 0 0 0 + 0 0 1 0 1 0 1 + -1 1 0 -1 0 1 0 + 3 0 0 3 0 0 0 + 1 0 1 1 1 0 1 ]; + + e = [ 0 0 0 0 0 0 1 + 0 0 0 0 0 0 3 + 1 0 0 0 0 1 0 + 0 0 0 0 1 0 2 + 0 0 0 0 0 -1 0 + 0 1 0 0 0 0 0 + 0 0 1 1 0 0 0 ]; + + b = [ 1 0 + 0 -1 + 0 1 + 1 0 + 0 -1 + 0 1 + 1 0 ]; + + c = [ 2 0 0 0 0 0 1 + 1 0 0 0 0 0 2 + 0 0 0 0 0 0 3 ]; + + tol = 0; + + [ao, eo, bo, co, q, z, nobsv] = __sl_tg01id__ (a, e, b, c, tol); + + nobsv_e = 3; + + ao_e = [ 0.2177 0.2414 0.5742 0.4342 0.0000 -0.4342 0.4666 + 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 + -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 + 0.0000 0.0000 0.0000 3.7417 0.3780 -3.7417 0.0000 + 0.0000 0.0000 0.0000 0.0000 1.7862 0.0000 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 ]; + + eo_e = [ 1.0000 0.0000 0.0000 0.4342 0.0000 0.0000 1.8016 + 0.0000 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 + 0.0000 0.0000 -1.0260 0.8520 0.1325 0.1874 -0.8214 + 0.0000 0.0000 0.0000 0.0000 -1.1339 -0.5345 0.0000 + 0.0000 0.0000 0.0000 0.0000 -0.1333 0.3770 2.3752 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 + 0.0000 0.0000 0.0000 0.0000 -0.1728 0.4887 -1.8325 ]; + + bo_e = [ 0.4666 0.0000 + 0.4334 0.5461 + -1.2627 0.1874 + 0.0000 -1.6036 + 0.0000 -0.9803 + 1.0000 0.0000 + 0.0000 0.3665 ]; + + co_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 2.0000 1.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 2.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 3.0000 ]; + + q_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.7917 0.0000 -0.6108 + 0.0000 0.5461 0.1874 -0.5345 0.3770 0.0000 0.4887 + 0.9008 0.1410 -0.4107 0.0000 0.0000 0.0000 0.0000 + 0.0000 -0.5461 -0.1874 0.2673 0.4713 0.0000 0.6108 + 0.0000 -0.5461 -0.1874 -0.8018 -0.0943 0.0000 -0.1222 + -0.4342 0.2924 -0.8520 0.0000 0.0000 0.0000 0.0000 ]; + + z_e = [ 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 + 0.0000 -0.6519 0.2740 0.0000 0.7071 0.0000 0.0000 + -0.4342 0.3491 0.8304 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 + 0.9008 0.1683 0.4003 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.6519 -0.2740 0.0000 0.7071 0.0000 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 ]; + +***** assert <45008> (ao, ao_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (ao,ao_e,1e-4) + + Location | Observed | Expected | Reason + (1,1) 0.11282 0.2177 Abs err 0.10488 exceeds tol 0.0001 by 0.1 + (2,1) 0.18105 0.2022 Abs err 0.021146 exceeds tol 0.0001 by 0.02 + (3,1) 0.47386 -0.5892 Abs err 1.0631 exceeds tol 0.0001 by 1 + (1,2) -0.14188 0.2414 Abs err 0.38328 exceeds tol 0.0001 by 0.4 + (2,2) -0.2277 0.2242 Abs err 0.4519 exceeds tol 0.0001 by 0.5 + (3,2) -0.59595 -0.6533 Abs err 0.057353 exceeds tol 0.0001 by 0.06 + (1,3) 0.39454 0.5742 Abs err 0.17966 exceeds tol 0.0001 by 0.2 + (2,3) 0.63317 0.5334 Abs err 0.099775 exceeds tol 0.0001 by 0.1 + (3,3) 1.6572 -1.554 Abs err 3.2112 exceeds tol 0.0001 by 3 + (1,4) 1.572e-15 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (2,4) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (3,4) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (1,5) -0.77706 0 Abs err 0.77706 exceeds tol 0.0001 by 0.8 + (2,5) 0.23131 -0.7723 Abs err 1.0036 exceeds tol 0.0001 by 1 + (3,5) 0.096625 -0.2651 Abs err 0.36172 exceeds tol 0.0001 by 0.4 + (4,5) -0.37796 0.378 Abs err 0.75596 exceeds tol 0.0001 by 0.8 + (1,6) -4.996e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (2,6) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (3,6) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (1,7) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 + (2,7) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 + (3,7) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 +shared variables + ao = + + 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 + 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 + 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 + 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 + 0 0 0 0 1.7862 -0.0000 0.0000 + 0 0 0 0 0 2.0000 0.0000 + 0 0 0 0 0 0 -0.0000 + + eo = + + 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 + 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 + 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 + 0 0 0 -0.0000 1.1339 -0.5345 0.0000 + 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 + 0 0 0 0 -0.0000 -0.0000 1.0000 + 0 0 0 0 0.1728 0.4887 -1.8325 + + bo = + + -3.0702e-01 -5.4947e-01 + -4.9272e-01 1.6356e-01 + -1.2896e+00 6.8324e-02 + 1.7834e-16 -1.6036e+00 + 9.9893e-17 9.8026e-01 + 1.0000e+00 -1.7636e-48 + -1.2948e-16 3.6651e-01 + + co = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q = + + 0 0 0 0 0 1.0000 0.0000 + 0 0 0 0.0000 -0.7917 0.0000 -0.6108 + -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 + -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 + 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 + 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 + -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 + + z = + + 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 + 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 + -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 + 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 + -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 + -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 + 0 0 0 0 0 0 1.0000 + + nobsv = 3 + ao_e = + + 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 + 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 + -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 + 0 0 0 3.7417 0.3780 -3.7417 0 + 0 0 0 0 1.7862 0 0 + 0 0 0 0 0 2.0000 0 + 0 0 0 0 0 0 0 + + eo_e = + + 1.0000 0 0 0.4342 0 0 1.8016 + 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 + 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 + 0 0 0 0 -1.1339 -0.5345 0 + 0 0 0 0 -0.1333 0.3770 2.3752 + 0 0 0 0 0 0 1.0000 + 0 0 0 0 -0.1728 0.4887 -1.8325 + + bo_e = + + 0.4666 0 + 0.4334 0.5461 + -1.2627 0.1874 + 0 -1.6036 + 0 -0.9803 + 1.0000 0 + 0 0.3665 + + co_e = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q_e = + + 0 0 0 0 0 1.0000 0 + 0 0 0 0 0.7917 0 -0.6108 + 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 + 0.9008 0.1410 -0.4107 0 0 0 0 + 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 + 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 + -0.4342 0.2924 -0.8520 0 0 0 0 + + z_e = + + 0 0 0 0 0 1.0000 0 + 0 -0.6519 0.2740 0 0.7071 0 0 + -0.4342 0.3491 0.8304 0 0 0 0 + 0 0 0 -1.0000 0 0 0 + 0.9008 0.1683 0.4003 0 0 0 0 + 0 0.6519 -0.2740 0 0.7071 0 0 + 0 0 0 0 0 0 1.0000 + + nobsv_e = 3 +***** assert <45008> (eo, eo_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (eo,eo_e,1e-4) + + Location | Observed | Expected | Reason + (1,1) 1.1969 1 Abs err 0.19687 exceeds tol 0.0001 by 0.2 + (1,2) 0.13128 0 Abs err 0.13128 exceeds tol 0.0001 by 0.1 + (2,2) -1.0197 1.1937 Abs err 2.2134 exceeds tol 0.0001 by 2 + (1,3) -0.056116 0 Abs err 0.056116 exceeds tol 0.0001 by 0.06 + (2,3) 0.016704 -0.1496 Abs err 0.1663 exceeds tol 0.0001 by 0.2 + (3,3) 1.0035 -1.026 Abs err 2.0295 exceeds tol 0.0001 by 2 + (1,4) -4.5292e-16 0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (2,4) -0.38545 -0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (3,4) 0.92273 0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (1,5) 0.38853 0 Abs err 0.38853 exceeds tol 0.0001 by 0.4 + (2,5) -0.11566 0.3861 Abs err 0.50176 exceeds tol 0.0001 by 0.5 + (3,5) -0.048312 0.1325 Abs err 0.18081 exceeds tol 0.0001 by 0.2 + (4,5) 1.1339 -1.1339 Abs err 2.2678 exceeds tol 0.0001 by 2 + (7,5) 0.17277 -0.1728 Abs err 0.34557 exceeds tol 0.0001 by 0.3 + (1,6) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (2,6) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (3,6) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (5,6) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 + (1,7) -0.61404 1.8016 Abs err 2.4156 exceeds tol 0.0001 by 2 + (2,7) -1.7563 0.2819 Abs err 2.0382 exceeds tol 0.0001 by 2 + (3,7) -0.73367 -0.8214 Abs err 0.087735 exceeds tol 0.0001 by 0.09 + (5,7) -2.3752 2.3752 Abs err 4.7504 exceeds tol 0.0001 by 5 +shared variables + ao = + + 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 + 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 + 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 + 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 + 0 0 0 0 1.7862 -0.0000 0.0000 + 0 0 0 0 0 2.0000 0.0000 + 0 0 0 0 0 0 -0.0000 + + eo = + + 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 + 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 + 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 + 0 0 0 -0.0000 1.1339 -0.5345 0.0000 + 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 + 0 0 0 0 -0.0000 -0.0000 1.0000 + 0 0 0 0 0.1728 0.4887 -1.8325 + + bo = + + -3.0702e-01 -5.4947e-01 + -4.9272e-01 1.6356e-01 + -1.2896e+00 6.8324e-02 + 1.7834e-16 -1.6036e+00 + 9.9893e-17 9.8026e-01 + 1.0000e+00 -1.7636e-48 + -1.2948e-16 3.6651e-01 + + co = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q = + + 0 0 0 0 0 1.0000 0.0000 + 0 0 0 0.0000 -0.7917 0.0000 -0.6108 + -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 + -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 + 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 + 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 + -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 + + z = + + 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 + 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 + -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 + 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 + -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 + -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 + 0 0 0 0 0 0 1.0000 + + nobsv = 3 + ao_e = + + 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 + 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 + -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 + 0 0 0 3.7417 0.3780 -3.7417 0 + 0 0 0 0 1.7862 0 0 + 0 0 0 0 0 2.0000 0 + 0 0 0 0 0 0 0 + + eo_e = + + 1.0000 0 0 0.4342 0 0 1.8016 + 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 + 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 + 0 0 0 0 -1.1339 -0.5345 0 + 0 0 0 0 -0.1333 0.3770 2.3752 + 0 0 0 0 0 0 1.0000 + 0 0 0 0 -0.1728 0.4887 -1.8325 + + bo_e = + + 0.4666 0 + 0.4334 0.5461 + -1.2627 0.1874 + 0 -1.6036 + 0 -0.9803 + 1.0000 0 + 0 0.3665 + + co_e = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q_e = + + 0 0 0 0 0 1.0000 0 + 0 0 0 0 0.7917 0 -0.6108 + 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 + 0.9008 0.1410 -0.4107 0 0 0 0 + 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 + 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 + -0.4342 0.2924 -0.8520 0 0 0 0 + + z_e = + + 0 0 0 0 0 1.0000 0 + 0 -0.6519 0.2740 0 0.7071 0 0 + -0.4342 0.3491 0.8304 0 0 0 0 + 0 0 0 -1.0000 0 0 0 + 0.9008 0.1683 0.4003 0 0 0 0 + 0 0.6519 -0.2740 0 0.7071 0 0 + 0 0 0 0 0 0 1.0000 + + nobsv_e = 3 +***** assert <45008> (bo, bo_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (bo,bo_e,1e-4) + + Location | Observed | Expected | Reason + (1,1) -0.30702 0.4666 Abs err 0.77362 exceeds tol 0.0001 by 0.8 + (2,1) -0.49272 0.4334 Abs err 0.92612 exceeds tol 0.0001 by 0.9 + (3,1) -1.2896 -1.2627 Abs err 0.026862 exceeds tol 0.0001 by 0.03 + (1,2) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (2,2) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (3,2) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (5,2) 0.98026 -0.9803 Abs err 1.9606 exceeds tol 0.0001 by 2 +shared variables + ao = + + 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 + 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 + 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 + 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 + 0 0 0 0 1.7862 -0.0000 0.0000 + 0 0 0 0 0 2.0000 0.0000 + 0 0 0 0 0 0 -0.0000 + + eo = + + 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 + 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 + 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 + 0 0 0 -0.0000 1.1339 -0.5345 0.0000 + 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 + 0 0 0 0 -0.0000 -0.0000 1.0000 + 0 0 0 0 0.1728 0.4887 -1.8325 + + bo = + + -3.0702e-01 -5.4947e-01 + -4.9272e-01 1.6356e-01 + -1.2896e+00 6.8324e-02 + 1.7834e-16 -1.6036e+00 + 9.9893e-17 9.8026e-01 + 1.0000e+00 -1.7636e-48 + -1.2948e-16 3.6651e-01 + + co = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q = + + 0 0 0 0 0 1.0000 0.0000 + 0 0 0 0.0000 -0.7917 0.0000 -0.6108 + -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 + -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 + 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 + 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 + -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 + + z = + + 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 + 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 + -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 + 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 + -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 + -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 + 0 0 0 0 0 0 1.0000 + + nobsv = 3 + ao_e = + + 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 + 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 + -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 + 0 0 0 3.7417 0.3780 -3.7417 0 + 0 0 0 0 1.7862 0 0 + 0 0 0 0 0 2.0000 0 + 0 0 0 0 0 0 0 + + eo_e = + + 1.0000 0 0 0.4342 0 0 1.8016 + 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 + 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 + 0 0 0 0 -1.1339 -0.5345 0 + 0 0 0 0 -0.1333 0.3770 2.3752 + 0 0 0 0 0 0 1.0000 + 0 0 0 0 -0.1728 0.4887 -1.8325 + + bo_e = + + 0.4666 0 + 0.4334 0.5461 + -1.2627 0.1874 + 0 -1.6036 + 0 -0.9803 + 1.0000 0 + 0 0.3665 + + co_e = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q_e = + + 0 0 0 0 0 1.0000 0 + 0 0 0 0 0.7917 0 -0.6108 + 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 + 0.9008 0.1410 -0.4107 0 0 0 0 + 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 + 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 + -0.4342 0.2924 -0.8520 0 0 0 0 + + z_e = + + 0 0 0 0 0 1.0000 0 + 0 -0.6519 0.2740 0 0.7071 0 0 + -0.4342 0.3491 0.8304 0 0 0 0 + 0 0 0 -1.0000 0 0 0 + 0.9008 0.1683 0.4003 0 0 0 0 + 0 0.6519 -0.2740 0 0.7071 0 0 + 0 0 0 0 0 0 1.0000 + + nobsv_e = 3 +***** assert <45008> (co, co_e, 1e-4); +***** assert <45008> (q, q_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (q,q_e,1e-4) + + Location | Observed | Expected | Reason + (3,1) -0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (4,1) -0.30702 0.9008 Abs err 1.2078 exceeds tol 0.0001 by 1 + (5,1) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (6,1) 0.54947 0 Abs err 0.54947 exceeds tol 0.0001 by 0.5 + (7,1) -6.6466e-17 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (3,2) 0.16356 0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (4,2) -0.87816 0.141 Abs err 1.0192 exceeds tol 0.0001 by 1 + (5,2) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (6,2) -0.16356 -0.5461 Abs err 0.38254 exceeds tol 0.0001 by 0.4 + (7,2) 0.38545 0.2924 Abs err 0.093049 exceeds tol 0.0001 by 0.09 + (3,3) 0.068324 0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (4,3) -0.36683 -0.4107 Abs err 0.043867 exceeds tol 0.0001 by 0.04 + (5,3) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (6,3) -0.068324 -0.1874 Abs err 0.11908 exceeds tol 0.0001 by 0.1 + (7,3) -0.92273 -0.852 Abs err 0.070729 exceeds tol 0.0001 by 0.07 + (2,5) -0.79175 0.7917 Abs err 1.5834 exceeds tol 0.0001 by 2 + (3,5) -0.37702 0.377 Abs err 0.75402 exceeds tol 0.0001 by 0.8 + (5,5) -0.47128 0.4713 Abs err 0.94258 exceeds tol 0.0001 by 0.9 + (6,5) 0.094256 -0.0943 Abs err 0.18856 exceeds tol 0.0001 by 0.2 +shared variables + ao = + + 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 + 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 + 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 + 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 + 0 0 0 0 1.7862 -0.0000 0.0000 + 0 0 0 0 0 2.0000 0.0000 + 0 0 0 0 0 0 -0.0000 + + eo = + + 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 + 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 + 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 + 0 0 0 -0.0000 1.1339 -0.5345 0.0000 + 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 + 0 0 0 0 -0.0000 -0.0000 1.0000 + 0 0 0 0 0.1728 0.4887 -1.8325 + + bo = + + -3.0702e-01 -5.4947e-01 + -4.9272e-01 1.6356e-01 + -1.2896e+00 6.8324e-02 + 1.7834e-16 -1.6036e+00 + 9.9893e-17 9.8026e-01 + 1.0000e+00 -1.7636e-48 + -1.2948e-16 3.6651e-01 + + co = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q = + + 0 0 0 0 0 1.0000 0.0000 + 0 0 0 0.0000 -0.7917 0.0000 -0.6108 + -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 + -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 + 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 + 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 + -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 + + z = + + 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 + 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 + -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 + 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 + -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 + -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 + 0 0 0 0 0 0 1.0000 + + nobsv = 3 + ao_e = + + 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 + 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 + -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 + 0 0 0 3.7417 0.3780 -3.7417 0 + 0 0 0 0 1.7862 0 0 + 0 0 0 0 0 2.0000 0 + 0 0 0 0 0 0 0 + + eo_e = + + 1.0000 0 0 0.4342 0 0 1.8016 + 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 + 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 + 0 0 0 0 -1.1339 -0.5345 0 + 0 0 0 0 -0.1333 0.3770 2.3752 + 0 0 0 0 0 0 1.0000 + 0 0 0 0 -0.1728 0.4887 -1.8325 + + bo_e = + + 0.4666 0 + 0.4334 0.5461 + -1.2627 0.1874 + 0 -1.6036 + 0 -0.9803 + 1.0000 0 + 0 0.3665 + + co_e = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q_e = + + 0 0 0 0 0 1.0000 0 + 0 0 0 0 0.7917 0 -0.6108 + 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 + 0.9008 0.1410 -0.4107 0 0 0 0 + 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 + 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 + -0.4342 0.2924 -0.8520 0 0 0 0 + + z_e = + + 0 0 0 0 0 1.0000 0 + 0 -0.6519 0.2740 0 0.7071 0 0 + -0.4342 0.3491 0.8304 0 0 0 0 + 0 0 0 -1.0000 0 0 0 + 0.9008 0.1683 0.4003 0 0 0 0 + 0 0.6519 -0.2740 0 0.7071 0 0 + 0 0 0 0 0 0 1.0000 + + nobsv_e = 3 +***** assert <45008> (z, z_e, 1e-4); +!!!!! known bug: https://octave.org/testfailure/?45008 +ASSERT errors for: assert (z,z_e,1e-4) + + Location | Observed | Expected | Reason + (2,1) 0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 + (3,1) -1.143e-16 -0.4342 Abs err 0.4342 exceeds tol 0.0001 by 0.4 + (5,1) -0.36746 0.9008 Abs err 1.2683 exceeds tol 0.0001 by 1 + (6,1) -0.65764 0 Abs err 0.65764 exceeds tol 0.0001 by 0.7 + (2,2) 0.23892 -0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 + (3,2) -0.39305 0.3491 Abs err 0.74215 exceeds tol 0.0001 by 0.7 + (5,2) 0.85519 0.1683 Abs err 0.68689 exceeds tol 0.0001 by 0.7 + (6,2) -0.23892 0.6519 Abs err 0.89082 exceeds tol 0.0001 by 0.9 + (2,3) -0.10213 0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 + (3,3) -0.91952 0.8304 Abs err 1.7499 exceeds tol 0.0001 by 2 + (5,3) -0.36556 0.4003 Abs err 0.76586 exceeds tol 0.0001 by 0.8 + (6,3) 0.10213 -0.274 Abs err 0.37613 exceeds tol 0.0001 by 0.4 + (2,5) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 + (6,5) -0.70711 0.7071 Abs err 1.4142 exceeds tol 0.0001 by 1 +shared variables + ao = + + 0.1128 -0.1419 0.3945 0.0000 -0.7771 -0.0000 -0.3070 + 0.1811 -0.2277 0.6332 -0.3854 0.2313 0.3854 -0.4927 + 0.4739 -0.5959 1.6572 0.9227 0.0966 -0.9227 -1.2896 + 0 0 -0.0000 3.7417 -0.3780 -3.7417 0.0000 + 0 0 0 0 1.7862 -0.0000 0.0000 + 0 0 0 0 0 2.0000 0.0000 + 0 0 0 0 0 0 -0.0000 + + eo = + + 1.1969 0.1313 -0.0561 -0.0000 0.3885 -0.5495 -0.6140 + 0 -1.0197 0.0167 -0.3854 -0.1157 0.1636 -1.7563 + 0 0 1.0035 0.9227 -0.0483 0.0683 -0.7337 + 0 0 0 -0.0000 1.1339 -0.5345 0.0000 + 0 0 0 -0.0000 -0.1333 -0.3770 -2.3752 + 0 0 0 0 -0.0000 -0.0000 1.0000 + 0 0 0 0 0.1728 0.4887 -1.8325 + + bo = + + -3.0702e-01 -5.4947e-01 + -4.9272e-01 1.6356e-01 + -1.2896e+00 6.8324e-02 + 1.7834e-16 -1.6036e+00 + 9.9893e-17 9.8026e-01 + 1.0000e+00 -1.7636e-48 + -1.2948e-16 3.6651e-01 + + co = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q = + + 0 0 0 0 0 1.0000 0.0000 + 0 0 0 0.0000 -0.7917 0.0000 -0.6108 + -0.5495 0.1636 0.0683 -0.5345 -0.3770 -0.0000 0.4887 + -0.3070 -0.8782 -0.3668 -0.0000 -0.0000 -0.0000 0.0000 + 0.5495 -0.1636 -0.0683 0.2673 -0.4713 -0.0000 0.6108 + 0.5495 -0.1636 -0.0683 -0.8018 0.0943 0.0000 -0.1222 + -0.0000 0.3854 -0.9227 0.0000 0.0000 0.0000 -0.0000 + + z = + + 0 0.0000 0.0000 -0.0000 -0.0000 1.0000 0 + 0.6576 0.2389 -0.1021 0.0000 -0.7071 0.0000 0 + -0.0000 -0.3931 -0.9195 -0.0000 0.0000 -0.0000 0 + 0.0000 0.0000 0.0000 -1.0000 -0.0000 0.0000 0 + -0.3675 0.8552 -0.3656 0.0000 0.0000 0 0 + -0.6576 -0.2389 0.1021 0.0000 -0.7071 0.0000 0 + 0 0 0 0 0 0 1.0000 + + nobsv = 3 + ao_e = + + 0.2177 0.2414 0.5742 0.4342 0 -0.4342 0.4666 + 0.2022 0.2242 0.5334 -0.2924 -0.7723 0.2924 0.4334 + -0.5892 -0.6533 -1.5540 0.8520 -0.2651 -0.8520 -1.2627 + 0 0 0 3.7417 0.3780 -3.7417 0 + 0 0 0 0 1.7862 0 0 + 0 0 0 0 0 2.0000 0 + 0 0 0 0 0 0 0 + + eo_e = + + 1.0000 0 0 0.4342 0 0 1.8016 + 0 1.1937 -0.1496 -0.2924 0.3861 0.5461 0.2819 + 0 0 -1.0260 0.8520 0.1325 0.1874 -0.8214 + 0 0 0 0 -1.1339 -0.5345 0 + 0 0 0 0 -0.1333 0.3770 2.3752 + 0 0 0 0 0 0 1.0000 + 0 0 0 0 -0.1728 0.4887 -1.8325 + + bo_e = + + 0.4666 0 + 0.4334 0.5461 + -1.2627 0.1874 + 0 -1.6036 + 0 -0.9803 + 1.0000 0 + 0 0.3665 + + co_e = + + 0 0 0 0 0 2 1 + 0 0 0 0 0 1 2 + 0 0 0 0 0 0 3 + + q_e = + + 0 0 0 0 0 1.0000 0 + 0 0 0 0 0.7917 0 -0.6108 + 0 0.5461 0.1874 -0.5345 0.3770 0 0.4887 + 0.9008 0.1410 -0.4107 0 0 0 0 + 0 -0.5461 -0.1874 0.2673 0.4713 0 0.6108 + 0 -0.5461 -0.1874 -0.8018 -0.0943 0 -0.1222 + -0.4342 0.2924 -0.8520 0 0 0 0 + + z_e = + + 0 0 0 0 0 1.0000 0 + 0 -0.6519 0.2740 0 0.7071 0 0 + -0.4342 0.3491 0.8304 0 0 0 0 + 0 0 0 -1.0000 0 0 0 + 0.9008 0.1683 0.4003 0 0 0 0 + 0 0.6519 -0.2740 0 0.7071 0 0 + 0 0 0 0 0 0 1.0000 + + nobsv_e = 3 +***** assert (nobsv, nobsv_e); +***** shared NUM, DEN, NUMe, DENe + A = [ -1.0 0.0 0.0 + 0.0 -2.0 0.0 + 0.0 0.0 -3.0 ]; + + B = [ 0.0 1.0 -1.0 + 1.0 1.0 0.0 ].'; + + C = [ 0.0 1.0 1.0 + 1.0 1.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 1.0 ]; + + [NUM, DEN] = tfdata (ss (A, B, C, D)); + ## remove possibly existing idendical pole/zero pairs + for i=1:2 + for j=1:2 + gcdij = polygcd (NUM{i,j},DEN{i,j}); + if length (gcdij) > 1 + NUM{i,j} = deconv (NUM{i,j}, gcdij); + DEN{i,j} = deconv (DEN{i,j}, gcdij); + endif + endfor + endfor + + NUMe = {[1, 5, 7], [0 1]; [0 0 1], [1, 5, 5]}; + + DENe = {[1, 5, 6], [1, 2]; [1, 5, 6], [1, 3, 2]}; + +***** assert (NUM, NUMe, 1e-4); +***** assert (DEN, DENe, 1e-4); +***** shared NUM, DEN, NUMe, DENe + A = [ 0 ]; + + B = [ 1 ]; + + C = [ 1 ]; + + D = [ 0 ]; + + [NUM, DEN] = tfdata (ss (A, B, C, D)); + + NUMe = {[0, 1]}; + + DENe = {[1, 0]}; + +***** assert (NUM, NUMe, 1e-4); +***** assert (DEN, DENe, 1e-4); +***** shared Mo, Me + INDEX = [ 3 3 ]; + + DCOEFF = [ 1.0 6.0 11.0 6.0 + 1.0 6.0 11.0 6.0 ]; + + UCOEFF = zeros (2, 2, 4); + + u11 = [ 1.0 6.0 12.0 7.0 ]; + u12 = [ 0.0 1.0 4.0 3.0 ]; + u21 = [ 0.0 0.0 1.0 1.0 ]; + u22 = [ 1.0 8.0 20.0 15.0 ]; + + UCOEFF(1,1,:) = u11; + UCOEFF(1,2,:) = u12; + UCOEFF(2,1,:) = u21; + UCOEFF(2,2,:) = u22; + + [Ao, Bo, Co, Do] = __sl_td04ad__ (UCOEFF, DCOEFF, INDEX, 0); + + Ae = [ 0.5000 -0.8028 0.9387 + 4.4047 -2.3380 2.5076 + -5.5541 1.6872 -4.1620 ]; + + Be = [ -0.2000 -1.2500 + 0.0000 -0.6097 + 0.0000 2.2217 ]; + + Ce = [ 0.0000 -0.8679 0.2119 + 0.0000 0.0000 0.9002 ]; + + De = [ 1.0000 0.0000 + 0.0000 1.0000 ]; + + Mo = [Ao, Bo; Co, Do]; + Me = [Ae, Be; Ce, De]; + +***** assert (Mo, Me, 1e-4); +43 tests, 33 passed, 0 known failure, 10 skipped +[inst/sigma.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/sigma.m +***** shared sv_exp, w_exp, sv_obs, w_obs + A = [1, 2; 3, 4]; + B = [5, 6; 7, 8]; + C = [4, 3; 2, 1]; + D = [8, 7; 6, 5]; + w = [2, 3, 4]; + sv_exp = [7.9176, 8.6275, 9.4393; + 0.6985, 0.6086, 0.5195]; + w_exp = [2; 3; 4]; + [sv_obs, w_obs] = sigma (ss (A, B, C, D), w); +***** assert (sv_obs, sv_exp, 1e-4); +***** assert (w_obs, w_exp, 1e-4); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/initial.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/initial.m +***** shared initial_c, initial_c_exp, initial_d, initial_d_exp + + A = [ -2.8 2.0 -1.8 + -2.4 -2.0 0.8 + 1.1 1.7 -1.0 ]; + + B = [ -0.8 0.5 0 + 0 0.7 2.3 + -0.3 -0.1 0.5 ]; + + C = [ -0.1 0 -0.3 + 0.9 0.5 1.2 + 0.1 -0.1 1.9 ]; + + D = [ -0.5 0 0 + 0.1 0 0.3 + -0.8 0 0 ]; + + x_0 = [1, 2, 3]; + + sysc = ss (A, B, C, D); + + [yc, tc, xc] = initial (sysc, x_0, 0.2, 0.1); + initial_c = [yc, tc, xc]; + + sysd = c2d (sysc, 2); + + [yd, td, xd] = initial (sysd, x_0, 4); + initial_d = [yd, td, xd]; + + ## expected values computed by the "dark side" + + yc_exp = [ -1.0000 5.5000 5.6000 + -0.9872 5.0898 5.7671 + -0.9536 4.6931 5.7598 ]; + + tc_exp = [ 0.0000 + 0.1000 + 0.2000 ]; + + xc_exp = [ 1.0000 2.0000 3.0000 + 0.5937 1.6879 3.0929 + 0.2390 1.5187 3.0988 ]; + + initial_c_exp = [yc_exp, tc_exp, xc_exp]; + + yd_exp = [ -1.0000 5.5000 5.6000 + -0.6550 3.1673 4.2228 + -0.5421 2.6186 3.4968 ]; + + td_exp = [ 0 + 2 + 4 ]; + + xd_exp = [ 1.0000 2.0000 3.0000 + -0.4247 1.5194 2.3249 + -0.3538 1.2540 1.9250 ]; + + initial_d_exp = [yd_exp, td_exp, xd_exp]; + +***** assert (initial_c, initial_c_exp, 1e-4) +***** assert (initial_d, initial_d_exp, 1e-4) +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/hsvd.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/hsvd.m +***** shared hsv, hsv_exp + a = [ -0.04165 0.0000 4.9200 -4.9200 0.0000 0.0000 0.0000 + -5.2100 -12.500 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 3.3300 -3.3300 0.0000 0.0000 0.0000 0.0000 + 0.5450 0.0000 0.0000 0.0000 -0.5450 0.0000 0.0000 + 0.0000 0.0000 0.0000 4.9200 -0.04165 0.0000 4.9200 + 0.0000 0.0000 0.0000 0.0000 -5.2100 -12.500 0.0000 + 0.0000 0.0000 0.0000 0.0000 0.0000 3.3300 -3.3300]; + + b = [ 0.0000 0.0000 + 12.5000 0.0000 + 0.0000 0.0000 + 0.0000 0.0000 + 0.0000 0.0000 + 0.0000 12.500 + 0.0000 0.0000]; + + c = [ 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000]; + + sys = ss (a, b, c, [], "scaled", true); + hsv = hsvd (sys, "alpha", 0.0); + + hsv_exp = [2.5139; 2.0846; 1.9178; 0.7666; 0.5473; 0.0253; 0.0246]; + +***** assert (hsv, hsv_exp, 1e-4); 1 test, 1 passed, 0 known failure, 0 skipped -[inst/__dss2ss__.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/__dss2ss__.m -***** shared a, b, c, e, ranke, rnka22, q, z, a_exp, b_exp, c_exp, e_exp, q_exp, z_exp - - e = [1, 2, 0, 0; 0, 1, 0, 1; 3, 9, 6, 3; 0, 0, 2, 0]; - a = [-1, 0, 0, 3; 0, 0, 1, 2; 1, 1, 0, 4; 0, 0, 0, 0]; - b = [1, 0; 0, 0; 0, 1; 1, 1]; - c = [-1, 0, 1, 0; 0, 1, -1, 1]; - - [a, e, b, c, ranke, rnka22, q, z] = __sl_tg01fd__ (a, e, b, c, true, 0.0); - - e_exp = [10.1587 5.8230 1.3021 0.0000; - 0.0000 -2.4684 -0.1896 0.0000; - 0.0000 0.0000 1.0338 0.0000; - 0.0000 0.0000 0.0000 0.0000]; - - a_exp = [ 2.0278 0.1078 3.9062 -2.1571; - -0.0980 0.2544 1.6053 -0.1269; - 0.2713 0.7760 -0.3692 -0.4853; - 0.0690 -0.5669 -2.1974 0.3086]; +[inst/imp_invar.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/imp_invar.m +***** shared bz1, az1, bz2, az2, bz1_e, az1_e, bz2_e, az2_e + + s = tf ('s'); + Gs = (s-2)*(s-1)*(s+5)/s/(s+1)/(s+2)^3/(s+3)/(s+4); + [b,a] = tfdata (Gs, 'v'); + [bz1,az1] = imp_invar (Gs, 2); + [bz2,az2] = imp_invar (b, a, 5); + + bz1_e = 1/2*[-0.0000 0.0036 -0.0128 0.0039 0.0125 -0.0001 -0.0001 0.0000]; + az1_e = [ 1.0000 -3.0686 3.7873 -2.4518 0.9020 -0.1886 0.0207 -0.0009]; + + bz2_e = 1/5*[-0.0000 0.0007 -0.0007 -0.0025 0.0032 -0.0004 -0.0001 0.0000]; + az2_e = [ 1.0000 -4.8278 9.8933 -11.1569 7.4787 -2.9798 0.6534 -0.0608]; + +***** assert (az1, az1_e, 1e-4); +***** assert (bz1, bz1_e, 1e-4); +***** assert (az2, az2_e, 1e-4); +***** assert (bz2, bz2_e, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/@lti/dcgain.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/dcgain.m +***** assert( dcgain( tf(1,[1,1]) ) , 1 ) +***** assert( dcgain( tf(2,[1,1]) ) , 2 ) +***** assert( dcgain( ss([0,1;-2,-3],[0;1],[1,0],0) ) , 0.5 ) +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/@lti/d2d.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/d2d.m +***** shared num, den, z, p, k + H1 = zpk (0.7, 0.5, 1, 0.1); + H2 = d2d (H1, 0.05); + H3 = d2d (H2, 0.1); + [num, den] = tfdata (H2, "vector"); + [z, p, k] = zpkdata (H3, "vector"); +***** assert (num, [1.00000 -0.82426], 1e-4); +***** assert (den, [1.00000 -0.70711], 1e-4); +***** assert (z, 0.7, 1e-4); +***** assert (p, 0.5, 1e-4); +***** assert (k, 1.0, 1e-4); +5 tests, 5 passed, 0 known failure, 0 skipped +[inst/@lti/subsref.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/subsref.m +***** shared a + s = tf ("s"); + G = (s+2)*s*5/(s+1)/(s^2+s+1); + a = G(1,1).num{1,1}(2:3); +***** assert (a, [5 10], 1e-4); +***** shared a, b + G = tf ({[1 1],[2];[1 1 1],[1 2]},{[1 1 1],[1 2 1];[1 2 1],[1 0]}); + a = G(1,2).num{1,1}; + b = G(2,2).den{1,1}; +***** assert (a, [0 0 2], 1e-4); +***** assert (b, [1 0], 1e-4); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/@lti/minreal.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/minreal.m +***** shared C, D + + A = ss (-2, 3, 4, 5); + B = A / A; + C = minreal (B, 1e-15); + D = ss (1); + +***** assert (C.a, D.a); +***** assert (C.b, D.b); +***** assert (C.c, D.c); +***** assert (C.d, D.d); +***** shared M, Me + A = [ 1.0 2.0 0.0 + 4.0 -1.0 0.0 + 0.0 0.0 1.0 ]; + + B = [ 1.0 + 0.0 + 1.0 ]; + + C = [ 0.0 1.0 -1.0 + 0.0 0.0 1.0 ]; + + D = zeros (2, 1); + + [Ar, Br, Cr] = __sl_tb01pd__ (A, B, C, 0.0, true); + M = [Ar, Br; Cr, D]; + + Ae = [ 1.0000 -1.4142 1.4142 + -2.8284 0.0000 1.0000 + 2.8284 1.0000 0.0000 ]; + + Be = [-1.0000 + 0.7071 + 0.7071 ]; + + Ce = [ 0.0000 0.0000 -1.4142 + 0.0000 0.7071 0.7071 ]; + + De = zeros (2, 1); + + Me = [Ae, Be; Ce, De]; + +***** assert (M, Me, 1e-4); +***** shared Ar, Br, Cr, Dr, Er, Ae, Be, Ce, De, Ee, num, den, num2, den2, num3, num3a, den3, den3a + A = [ -2 -3 0 0 0 0 0 0 0 + 1 0 0 0 0 0 0 0 0 + 0 0 -2 -3 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 1 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 + 0 0 0 0 0 0 0 0 1 ]; + + E = [ 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 ]; + + B = [ 1 0 + 0 0 + 0 1 + 0 0 + -1 0 + 0 0 + 0 -1 + 0 0 + 0 0 ]; + + C = [ 1 0 1 -3 0 1 0 2 0 + 0 1 1 3 0 1 0 0 1 ]; + + D = zeros (2, 2); + + sys = dss (A, B, C, D, E, "scaled", true); + sysmin = minreal (sys, 0.0); + [Ar, Br, Cr, Dr, Er] = dssdata (sysmin); + [num,den]=tfdata(sys); + sysmin = minreal (sys, 1e-6); + [num2,den2]=tfdata(sysmin); + sys3 = dss (Ar, Br, Cr, Dr, Er, "scaled", true); + [num3,den3]=tfdata(sys3); + sysmin3 = minreal (sys3, 1e-6); + [num3a,den3a]=tfdata(sysmin3); + +***** assert (num, num2 , 1e-4); +***** assert (den, den2 , 1e-4); +***** assert (num3, num3a , 1e-4); +***** assert (den3, den3a , 1e-4); +***** assert (num, num3a, 1e-4); +***** assert (den, den3a, 1e-4); +***** shared a, b, c, d + s = tf ("s"); + G1 = (s+1)*s*5/(s+1)/(s^2+s+1); + G2 = tf ([1, 1, 1], [2, 2, 2]); + G1min = minreal (G1); + G2min = minreal (G2); + a = G1min.num{1, 1}; + b = G1min.den{1, 1}; + c = G2min.num{1, 1}; + d = G2min.den{1, 1}; +***** assert (a, [0, 5, 0], 1e-4); +***** assert (b, [1, 1, 1], 1e-4); +***** assert (c, 0.5, 1e-4); +***** assert (d, 1, 1e-4); +15 tests, 15 passed, 0 known failure, 0 skipped +[inst/@lti/c2d.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/c2d.m +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ].'; + + B = [ 0.0 -1.0 + 1.0 0.0 ].'; + + C = [ -1.0 0.0 + 0.0 1.0 ].'; + + D = [ 1.0 0.0 + 0.0 -1.0 ].'; + + [Ao, Bo, Co, Do] = __sl_ab04md__ (A, B, C, D, 1.0, 1.0, false); + + Ae = [ -1.0000 -4.0000 + -4.0000 -1.0000 ]; + + Be = [ 2.8284 0.0000 + 0.0000 -2.8284 ]; + + Ce = [ 0.0000 2.8284 + -2.8284 0.0000 ]; + + De = [ -1.0000 0.0000 + 0.0000 -3.0000 ]; + + Mo = [Ao, Bo; Co, Do]; + Me = [Ae, Be; Ce, De]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ].'; + + B = [ 0.0 -1.0 + 1.0 0.0 ].'; + + C = [ -1.0 0.0 + 0.0 1.0 ].'; + + D = [ 1.0 0.0 + 0.0 -1.0 ].'; + + [Ao, Bo, Co, Do] = ssdata (c2d (ss (A, B, C, D), 2, "tustin")); + + Ae = [ -1.0000 -4.0000 + -4.0000 -1.0000 ]; + + Be = [ 2.8284 0.0000 + 0.0000 -2.8284 ]; + + Ce = [ 0.0000 2.8284 + -2.8284 0.0000 ]; + + De = [ -1.0000 0.0000 + 0.0000 -3.0000 ]; + + Mo = [Ao, Bo; Co, Do]; + Me = [Ae, Be; Ce, De]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 0.0 0.0 + 0.0 0.0 ]; + + [Ao, Bo, Co, Do] = ssdata (c2d (ss(A,B,C,D), 2, "imp")); + + Ae = [ 11.4019 8.6836 + 8.6836 11.4019 ]; + + Be = [ 17.3673 -22.8038 + 22.8038 -17.3673 ]; + + Ce = [ -1.0000 0.0000 + 0.0000 1.0000 ]; + + De = [ 0.0000 2.0000 + 2.0000 0.0000 ]; + + Mo = [Ao, Bo; Co, Do]; + Me = [Ae, Be; Ce, De]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + G = tf ({[1 0],1;[1],1},{[1 1 1],[1 1];[1 0],[1 2 1]}); + + [nuo, dno] = tfdata (c2d (G, 2, "imp")); + + nue = {[2 -0.3011 0], [2 0]; [2 0], [0 0.5413 0]}; + dne = {[1 0.1181 0.1353], [1 -0.1353]; [1 -1], [1 -0.2707 0.01832]}; + + Mo = [ nuo{1,1} nuo{1,2} nuo{2,1} nuo{2,2} dno{1,1} dno{1,2} dno{2,1} dno{2,2} ]; + Me = [ nue{1,1} nue{1,2} nue{2,1} nue{2,2} dne{1,1} dne{1,2} dne{2,1} dne{2,2} ]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin")); + + Mo = [Ao, Bo; Co, Do]; + Me = [A, B; C, D]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh")); + + Mo = [Ao, Bo; Co, Do]; + Me = [A, B; C, D]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (c2d (ss (A, B, C, D), 2, "foh")); + + Ae = [ 11.4019 8.6836 + 8.6836 11.4019 ]; + + Be = [ 37.5206 -43.4256 + 43.4256 -37.5206 ]; + + Ce = [ -1.0000 0.0000 + 0.0000 1.0000 ]; + + De = [ -0.0690 2.5056 + 2.5056 -2.0690 ]; + + Mo = [Ao, Bo; Co, Do]; + Me = [Ae, Be; Ce, De]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000)); + + Mo = [Ao, Bo; Co, Do]; + Me = [A, B; C, D]; + +***** assert (Mo, Me, 1e-4); +***** shared Aex, Aexint, Aex_exp, Aexint_exp + A = [ 5.0 4.0 3.0 2.0 1.0 + 1.0 6.0 0.0 4.0 3.0 + 2.0 0.0 7.0 6.0 5.0 + 1.0 3.0 1.0 8.0 7.0 + 2.0 5.0 7.0 1.0 9.0 ]; + + Aex_exp = [ 1.8391 0.9476 0.7920 0.8216 0.7811 + 0.3359 2.2262 0.4013 1.0078 1.0957 + 0.6335 0.6776 2.6933 1.6155 1.8502 + 0.4804 1.1561 0.9110 2.7461 2.0854 + 0.7105 1.4244 1.8835 1.0966 3.4134 ]; + + Aexint_exp = [ 0.1347 0.0352 0.0284 0.0272 0.0231 + 0.0114 0.1477 0.0104 0.0369 0.0368 + 0.0218 0.0178 0.1624 0.0580 0.0619 + 0.0152 0.0385 0.0267 0.1660 0.0732 + 0.0240 0.0503 0.0679 0.0317 0.1863 ]; + + [Aex, Aexint] = __sl_mb05nd__ (A, 0.1, 0.0001); + +***** assert (Aex, Aex_exp, 1e-4); +***** assert (Aexint, Aexint_exp, 1e-4); +10 tests, 10 passed, 0 known failure, 0 skipped +[inst/@lti/isminimumphase.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/isminimumphase.m +***** assert (isminimumphase (tf (1, [1, 0])), true); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@lti/d2c.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/d2c.m +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "tustin"), "tustin")); + + Mo = [Ao, Bo; Co, Do]; + Me = [A, B; C, D]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "zoh"), "zoh")); + + Mo = [Ao, Bo; Co, Do]; + Me = [A, B; C, D]; + +***** assert (Mo, Me, 1e-4); +***** shared Mo, Me + A = [ 1.0 0.5 + 0.5 1.0 ]; + + B = [ 0.0 -1.0 + 1.0 0.0 ]; + + C = [ -1.0 0.0 + 0.0 1.0 ]; + + D = [ 1.0 0.0 + 0.0 -1.0 ]; + + [Ao, Bo, Co, Do] = ssdata (d2c (c2d (ss (A, B, C, D), 2, "prewarp", 1000), "prewarp", 1000)); + + Mo = [Ao, Bo; Co, Do]; + Me = [A, B; C, D]; + +***** assert (Mo, Me, 1e-4); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/@lti/zero.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/zero.m +***** shared z, z_exp + A = [ -0.7 -0.0458 -12.2 0 + 0 -0.014 -0.2904 -0.562 + 1 -0.0057 -1.4 0 + 1 0 0 0 ]; + + B = [ -19.1 -3.1 + -0.0119 -0.0096 + -0.14 -0.72 + 0 0 ]; + + C = [ 0 0 -1 1 + 0 0 0.733 0 ]; + + D = [ 0 0 + 0.0768 0.1134 ]; + + sys = ss (A, B, C, D, "scaled", true); + z = sort (zero (sys)); + + z_exp = sort ([-13.2759; 12.5774; -0.0155]); + +***** assert (z, z_exp, 1e-4); +***** shared z, z_exp, info, rank_exp, infz_exp, kronr_exp, kronl_exp + A = [ 1.0 0.0 0.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 0.0 0.0 + 0.0 0.0 3.0 0.0 0.0 0.0 + 0.0 0.0 0.0 -4.0 0.0 0.0 + 0.0 0.0 0.0 0.0 -1.0 0.0 + 0.0 0.0 0.0 0.0 0.0 3.0 ]; + + B = [ 0.0 -1.0 + -1.0 0.0 + 1.0 -1.0 + 0.0 0.0 + 0.0 1.0 + -1.0 -1.0 ]; + + C = [ 1.0 0.0 0.0 1.0 0.0 0.0 + 0.0 1.0 0.0 1.0 0.0 1.0 + 0.0 0.0 1.0 0.0 0.0 1.0 ]; + + D = [ 0.0 0.0 + 0.0 0.0 + 0.0 0.0 ]; + + sys = ss (A, B, C, D, "scaled", true); + [z, ~, info] = zero (sys); + + z_exp = [ 2.0000 + -1.0000 ]; + + rank_exp = 2; + infz_exp = 2; + kronr_exp = zeros (1, 0); + kronl_exp = 2; + +***** assert (z, z_exp, 1e-4); +***** assert (info.rank, rank_exp); +***** assert (info.infz, infz_exp); +***** assert (info.kronr, kronr_exp); +***** assert (info.kronl, kronl_exp); +***** shared z, z_exp, info, rank_exp, infz_exp, kronr_exp, kronl_exp + A = [ 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 1 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 + 0 0 0 0 0 0 0 0 1 ]; + + E = [ 0 0 0 0 0 0 0 0 0 + 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 ]; + + B = [ -1 0 0 + 0 0 0 + 0 0 0 + 0 -1 0 + 0 0 0 + 0 0 0 + 0 0 -1 + 0 0 0 + 0 0 0 ]; + + C = [ 0 1 1 0 3 4 0 0 2 + 0 1 0 0 4 0 0 2 0 + 0 0 1 0 -1 4 0 -2 2 ]; + + D = [ 1 2 -2 + 0 -1 -2 + 0 0 0 ]; + + sys = dss (A, B, C, D, E, "scaled", true); + [z, ~, info] = zero (sys); + + z_exp = 1; + + rank_exp = 11; + infz_exp = [0, 1]; + kronr_exp = 2; + kronl_exp = 1; + +***** assert (z, z_exp, 1e-4); +***** assert (info.rank, rank_exp); +***** assert (info.infz, infz_exp); +***** assert (info.kronr, kronr_exp); +***** assert (info.kronl, kronl_exp); +***** shared p, pi, z, zi, k, ki, p_tf, pi_tf, z_tf, zi_tf, k_tf, ki_tf + P = ss (-2, 3, 4, 5); + Pi = inv (P); + + p = pole (P); + [z, k] = zero (P); + + pi = pole (Pi); + [zi, ki] = zero (Pi); + + P_tf = tf (P); + Pi_tf = tf (Pi); + + p_tf = pole (P_tf); + [z_tf, k_tf] = zero (P_tf); + + pi_tf = pole (Pi_tf); + [zi_tf, ki_tf] = zero (Pi_tf); + +***** assert (p, zi, 1e-4); +***** assert (z, pi, 1e-4); +***** assert (k, inv (ki), 1e-4); +***** assert (p_tf, zi_tf, 1e-4); +***** assert (z_tf, pi_tf, 1e-4); +***** assert (k_tf, inv (ki_tf), 1e-4); +***** shared z_inv, z_tra, z_inp, z_out, z_sys, z_inv_e, z_tra_e, z_inp_e, z_out_e, z_sys_e + A = diag ([1, 1, 3, -4, -1, 3]); - b_exp = [-0.2157 -0.9705; - 0.3015 0.9516; - 0.7595 0.0991; - 1.1339 0.3780]; + B = [ 0, -1 + -1, 0 + 1, -1 + 0, 0 + 0, 1 + -1, -1 ]; + + C = [ 1, 0, 0, 1, 0, 0 + 0, 1, 0, 1, 0, 1 + 0, 0, 1, 0, 0, 1 ]; + + D = zeros (3, 2); - c_exp = [ 0.3651 -1.0000 -0.4472 -0.8165; - -1.0954 1.0000 -0.8944 0.0000]; + SYS = ss (A, B, C, D); + + z_inv = zero (SYS); + z_tra = zero (SYS, "transmission"); + z_inp = zero (SYS, "input decoupling"); + z_out = zero (SYS, "output decoupling"); + z_sys = zero (SYS, "system"); + + z_inv_e = [2; -1]; + z_tra_e = [2]; + z_inp_e = [-4]; + z_out_e = [-1]; + z_sys_e = [-4, -1, 2]; - q_exp = [-0.2157 -0.5088 0.6109 0.5669; - -0.1078 -0.2544 -0.7760 0.5669; - -0.9705 0.1413 -0.0495 -0.1890; - 0.0000 0.8102 0.1486 0.5669]; +***** assert (z_inv, z_inv_e, 1e-4); +***** assert (z_tra, z_tra_e, 1e-4); +***** assert (z_inp, z_inp_e, 1e-4); +***** assert (z_out, z_out_e, 1e-4); +***** assert (z_sys, z_sys_e, 1e-4); +***** shared z_inv, z_tra, z_inp, z_out, z_sys, z_inv_e, z_tra_e, z_inp_e, z_out_e, z_sys_e + A = diag ([1, 1, 3, -4, -1, 3]); - z_exp = [-0.3651 0.0000 0.4472 0.8165; - -0.9129 0.0000 0.0000 -0.4082; - 0.0000 -1.0000 0.0000 0.0000; - -0.1826 0.0000 -0.8944 0.4082]; + B = [ 0, -1 + -1, 0 + 1, -1 + 0, 0 + 0, 1 + -1, -1 ]; + + C = [ 1, 0, 0, 1, 0, 0 + 0, 1, 0, 1, 0, 1 + 0, 0, 1, 0, 0, 1 ]; + + D = zeros (3, 2); + + E = eye (6); -***** assert (a, a_exp, 1e-4); -***** assert (e, e_exp, 1e-4); -***** assert (b, b_exp, 1e-4); -***** assert (c, c_exp, 1e-4); -***** assert (q, q_exp, 1e-4); -***** assert (z, z_exp, 1e-4); -***** assert (ranke, 3); -***** assert (rnka22, 1); -***** shared mms + SYS = dss (A, B, C, D, E); + + z_inv = zero (SYS); + z_tra = zero (SYS, "transmission"); + z_inp = zero (SYS, "input decoupling"); + z_out = zero (SYS, "output decoupling"); + z_sys = zero (SYS, "system"); + + z_inv_e = [2; -1]; + z_tra_e = [2]; + z_inp_e = [-4]; + z_out_e = [-1]; + z_sys_e = [-4, -1, 2]; - mm = tf ([3, 5, 0], [4, 1]); - mms = ss (mm); -***** error (__dss2ss__ (mms.a, mms.b, mms.c, mms.d, mms.e)); +***** assert (z_inv, z_inv_e, 1e-4); +***** assert (z_tra, z_tra_e, 1e-4); +***** assert (z_inp, z_inp_e, 1e-4); +***** assert (z_out, z_out_e, 1e-4); +***** assert (z_sys, z_sys_e, 1e-4); +27 tests, 27 passed, 0 known failure, 0 skipped +[inst/@lti/inv.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/inv.m +***** shared M, Me + A = [ 1.0 2.0 0.0 + 4.0 -1.0 0.0 + 0.0 0.0 1.0 ]; + + B = [ 1.0 0.0 + 0.0 1.0 + 1.0 0.0 ]; + + C = [ 0.0 1.0 -1.0 + 0.0 0.0 1.0 ]; + + D = [ 4.0 0.0 + 0.0 1.0 ]; + + sys = ss (A, B, C, D); + sysinv = inv (sys); + [Ai, Bi, Ci, Di] = ssdata (sysinv); + M = [Ai, Bi; Ci, Di]; + + Ae = [ 1.0000 1.7500 0.2500 + 4.0000 -1.0000 -1.0000 + 0.0000 -0.2500 1.2500 ]; + + Be = [-0.2500 0.0000 + 0.0000 -1.0000 + -0.2500 0.0000 ]; + + Ce = [ 0.0000 0.2500 -0.2500 + 0.0000 0.0000 1.0000 ]; + + De = [ 0.2500 0.0000 + 0.0000 1.0000 ]; + + Me = [Ae, -Be; -Ce, De]; + +***** assert (M, Me, 1e-4); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@lti/connect.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/connect.m +***** shared T, Texp + P = Boeing707; + I = ss (-eye (2)); + I.inname = P.outname; + I.outname = P.inname; + T = connect (P, I, P.inname, P.outname); + Texp = feedback (P); +***** assert (T.a, Texp.a, 1e-4); +***** assert (T.b, Texp.b, 1e-4); +***** assert (T.c, Texp.c, 1e-4); +***** assert (T.d, Texp.d, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/@lti/norm.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/norm.m +***** shared H2, Hinf + sys = ss (-1, 1, 1, 0); + H2 = norm (sys, 2); + Hinf = norm (sys, inf); +***** assert (H2, 0.7071, 1.5e-5); +***** assert (Hinf, 1, 5e-4); +***** shared H2, Hinf + a = [ 2.417 -1.002 0.5488 + 2 0 0 + 0 0.5 0 ]; + b = [ 1 + 0 + 0 ]; + c = [-0.424 0.436 -0.4552 ]; + d = [ 1 ]; + sys = ss (a, b, c, d, 0.1); + H2 = norm (sys, 2); + Hinf = norm (sys, inf); +***** assert (H2, 1.2527, 1.5e-5); +***** assert (Hinf, 2.7, 0.1); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/@lti/ssdata.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/ssdata.m ***** test - A = [1 0; 0 1]; - B = [1; 0]; - C = [1 0]; - D = 0; - E = [1 0; 0 0]; - - sys = dss (A, B, C, D, E); - [Ao, Bo, Co, Do] = ssdata (sys); + systf = tf ({[1 2 3],[1 1 1]},{[1 2 1],[1 3 3 1]}); + [A,B,C,D,tsam] = ssdata (systf); + s = -6:1.2:6; + Gss = zeros(length(s),2); + Gtf = zeros(length(s),2); + for j = 1:length(s) + Gss(j,:) = C*inv(eye(3,3)*i*s(j)-A)*B + D; + Gtf(j,:) = systf (s(j)); + endfor + assert (Gss, Gtf, 1e-6); + assert (tsam, 0, 1e-6); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@lti/feedback.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/feedback.m +***** shared M, Me + A1 = [ 1.0 0.0 -1.0 + 0.0 -1.0 1.0 + 1.0 1.0 2.0 ]; - assert (Ao, 1, 1e-4); - assert (Bo, 1, 1e-4); - assert (Co, 1, 1e-4); - assert (Do, 0, 1e-4); -10 tests, 10 passed, 0 known failure, 0 skipped + B1 = [ 1.0 1.0 0.0 + 2.0 0.0 1.0 ].'; + + C1 = [ 3.0 -2.0 1.0 + 0.0 1.0 0.0 ]; + + D1 = [ 1.0 0.0 + 0.0 1.0 ]; + + A2 = [-3.0 0.0 0.0 + 1.0 0.0 1.0 + 0.0 -1.0 2.0 ]; + + B2 = [ 0.0 -1.0 0.0 + 1.0 0.0 2.0 ].'; + + C2 = [ 1.0 1.0 0.0 + 1.0 1.0 -1.0 ]; + + D2 = [ 1.0 1.0 + 0.0 1.0 ]; + + sys1 = ss (A1, B1, C1, D1); + sys2 = ss (A2, B2, C2, D2); + sys = feedback (sys1, sys2); + [A, B, C, D] = ssdata (sys); + M = [A, B; C, D]; + + Ae = [-0.5000 -0.2500 -1.5000 -1.2500 -1.2500 0.7500 + -1.5000 -0.2500 0.5000 -0.2500 -0.2500 -0.2500 + 1.0000 0.5000 2.0000 -0.5000 -0.5000 0.5000 + 0.0000 0.5000 0.0000 -3.5000 -0.5000 0.5000 + -1.5000 1.2500 -0.5000 1.2500 0.2500 1.2500 + 0.0000 1.0000 0.0000 -1.0000 -2.0000 3.0000 ]; + + Be = [ 0.5000 0.7500 + 0.5000 -0.2500 + 0.0000 0.5000 + 0.0000 0.5000 + -0.5000 0.2500 + 0.0000 1.0000 ]; + + Ce = [ 1.5000 -1.2500 0.5000 -0.2500 -0.2500 -0.2500 + 0.0000 0.5000 0.0000 -0.5000 -0.5000 0.5000 ]; + + De = [ 0.5000 -0.2500 + 0.0000 0.5000 ]; + + Me = [Ae, Be; Ce, De]; + +***** assert (M, Me, 1e-4); +***** shared S1, S2 + P = ss (-2, 3, 4, 5); # meaningless numbers + C = ss (-1, 1, 1, 0); # ditto + L = P * C; + I = eye (size (L)); + S1 = feedback (I, L); + S2 = inv (I + L); +***** assert (S1.a, S2.a, 1e-4); +***** assert (S1.b, S2.b, 1e-4); +***** assert (S1.c, S2.c, 1e-4); +***** assert (S1.d, S2.d, 1e-4); +5 tests, 5 passed, 0 known failure, 0 skipped +[inst/@lti/mtimes.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/mtimes.m +***** shared sysmat, sysmat_exp + sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]); + sys2 = ss ([-10], [1], [-40], [5]); + sys3 = sys2 * sys1; + [A, B, C, D] = ssdata (sys3); + sysmat = [A, B; C, D]; + A_exp = [ -10 -5 1 + 0 0 1 + 0 -3 -2 ]; + B_exp = [ 2 + 0 + 1 ]; + C_exp = [ -40 -25 5 ]; + D_exp = [ 10 ]; + sysmat_exp = [A_exp, B_exp; C_exp, D_exp]; +***** assert (sysmat, sysmat_exp) +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@lti/prescale.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/prescale.m +***** shared Ao, Bo, Co, SCALEo, MAXREDo, Ae, Be, Ce, SCALEe, MAXREDe + A = [ 0.0 1.0000e+000 0.0 0.0 0.0 + -1.5800e+006 -1.2570e+003 0.0 0.0 0.0 + 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011 + 0.0 0.0 0.0 0.0 1.0000e+000 + 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ]; + + B = [ 0.0 0.0 + 1.1030e+002 0.0 + 0.0 0.0 + 0.0 0.0 + 0.0 8.3330e-003 ]; + + C = [ 1.0000e+000 0.0 0.0 0.0 0.0 + 0.0 0.0 1.0000e+000 0.0 0.0 + 0.0 0.0 0.0 1.0000e+000 0.0 + 6.6640e-001 0.0 -6.2000e-013 0.0 0.0 + 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ]; + + MAXRED = 0.0; + + [Ao, Bo, Co, MAXREDo, SCALEo] = __sl_tb01id__ (A, B, C, MAXRED); + + Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00 + -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00 + 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03 + 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03 + 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ]; + + Be = [ 0.0000000D+00 0.0000000D+00 + 0.1103000D+04 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.8333000D+02 ]; + + Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00 + 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ]; + + SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ]; + + MAXREDe = 0.3488E+10; + +***** assert (Ao, Ae, 1e-4); +***** assert (Bo, Be, 1e-4); +***** assert (Co, Ce, 1e-4); +***** assert (MAXREDo, MAXREDe, 1e6); +***** assert (SCALEo, SCALEe.', 1e-4); +***** shared Ao, Eo, Bo, Co, LSCALEo, RSCALEo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe + A = [ -1 0 0 0.003 + 0 0 0.1000 0.02 + 100 10 0 0.4 + 0 0 0 0.0]; + + E = [ 1 0.2 0 0.0 + 0 1 0 0.01 + 300 90 6 0.3 + 0 0 20 0.0]; + + B = [ 10 0 + 0 0 + 0 1000 + 10000 10000]; + + C = [ -0.1 0.0 0.001 0.0 + 0.0 0.01 -0.001 0.0001]; + + TRESH = 0.0; + + [Ao, Eo, Bo, Co, LSCALEo, RSCALEo] = __sl_tg01ad__ (A, E, B, C, TRESH); + + Ae = [ -1.0000 0.0000 0.0000 0.3000 + 0.0000 0.0000 1.0000 2.0000 + 1.0000 0.1000 0.0000 0.4000 + 0.0000 0.0000 0.0000 0.0000]; + + Ee = [ 1.0000 0.2000 0.0000 0.0000 + 0.0000 1.0000 0.0000 1.0000 + 3.0000 0.9000 0.6000 0.3000 + 0.0000 0.0000 0.2000 0.0000 ]; + + Be = [100.0000 0.0000 + 0.0000 0.0000 + 0.0000 100.0000 + 100.0000 100.0000 ]; + + Ce = [ -0.0100 0.0000 0.0010 0.0000 + 0.0000 0.0010 -0.0010 0.0010]; + + LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ]; + + RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ]; + +***** assert (Ao, Ae, 1e-4); +***** assert (Eo, Ee, 1e-4); +***** assert (Bo, Be, 1e-4); +***** assert (Co, Ce, 1e-4); +***** assert (LSCALEo, LSCALEe.', 1e-4); +***** assert (RSCALEo, RSCALEe.', 1e-4); +***** shared Ao, Bo, Co, INFOo, Ae, Be, Ce, SCALEe + A = [ 0.0 1.0000e+000 0.0 0.0 0.0 + -1.5800e+006 -1.2570e+003 0.0 0.0 0.0 + 3.5410e+014 0.0 -1.4340e+003 0.0 -5.3300e+011 + 0.0 0.0 0.0 0.0 1.0000e+000 + 0.0 0.0 0.0 -1.8630e+004 -1.4820e+000 ]; + + B = [ 0.0 0.0 + 1.1030e+002 0.0 + 0.0 0.0 + 0.0 0.0 + 0.0 8.3330e-003 ]; + + C = [ 1.0000e+000 0.0 0.0 0.0 0.0 + 0.0 0.0 1.0000e+000 0.0 0.0 + 0.0 0.0 0.0 1.0000e+000 0.0 + 6.6640e-001 0.0 -6.2000e-013 0.0 0.0 + 0.0 0.0 -1.0000e-003 1.8960e+006 1.5080e+002 ]; + + SYS = ss (A, B, C); + + [SYSo, INFOo] = prescale (SYS); + + [Ao, Bo, Co] = ssdata (SYSo); + + Ae = [ 0.0000000D+00 0.1000000D+05 0.0000000D+00 0.0000000D+00 0.0000000D+00 + -0.1580000D+03 -0.1257000D+04 0.0000000D+00 0.0000000D+00 0.0000000D+00 + 0.3541000D+05 0.0000000D+00 -0.1434000D+04 0.0000000D+00 -0.5330000D+03 + 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D+03 + 0.0000000D+00 0.0000000D+00 0.0000000D+00 -0.1863000D+03 -0.1482000D+01 ]; + + Be = [ 0.0000000D+00 0.0000000D+00 + 0.1103000D+04 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.8333000D+02 ]; + + Ce = [ 0.1000000D-04 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 0.1000000D+06 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 0.0000000D+00 0.1000000D-05 0.0000000D+00 + 0.6664000D-05 0.0000000D+00 -0.6200000D-07 0.0000000D+00 0.0000000D+00 + 0.0000000D+00 0.0000000D+00 -0.1000000D+03 0.1896000D+01 0.1508000D-01 ]; + + SCALEe = [0.1000000D-04 0.1000000D+00 0.1000000D+06 0.1000000D-05 0.1000000D-03 ]; + +***** assert (Ao, Ae, 1e-4); +***** assert (Bo, Be, 1e-4); +***** assert (Co, Ce, 1e-4); +***** assert (INFOo.SL.^-1, SCALEe.', 1e-4); +***** assert (INFOo.SR, SCALEe.', 1e-4); +***** shared Ao, Eo, Bo, Co, INFOo, Ae, Ee, Be, Ce, LSCALEe, RSCALEe + A = [ -1 0 0 0.003 + 0 0 0.1000 0.02 + 100 10 0 0.4 + 0 0 0 0.0]; + + E = [ 1 0.2 0 0.0 + 0 1 0 0.01 + 300 90 6 0.3 + 0 0 20 0.0]; + + B = [ 10 0 + 0 0 + 0 1000 + 10000 10000]; + + C = [ -0.1 0.0 0.001 0.0 + 0.0 0.01 -0.001 0.0001]; + + SYS = dss (A, B, C, [], E); + + [SYSo, INFOo] = prescale (SYS); + + [Ao, Bo, Co, ~, Eo] = dssdata (SYSo); + + Ae = [ -1.0000 0.0000 0.0000 0.3000 + 0.0000 0.0000 1.0000 2.0000 + 1.0000 0.1000 0.0000 0.4000 + 0.0000 0.0000 0.0000 0.0000]; + + Ee = [ 1.0000 0.2000 0.0000 0.0000 + 0.0000 1.0000 0.0000 1.0000 + 3.0000 0.9000 0.6000 0.3000 + 0.0000 0.0000 0.2000 0.0000 ]; + + Be = [100.0000 0.0000 + 0.0000 0.0000 + 0.0000 100.0000 + 100.0000 100.0000 ]; + + Ce = [ -0.0100 0.0000 0.0010 0.0000 + 0.0000 0.0010 -0.0010 0.0010]; + + LSCALEe = [ 10.0000 10.0000 0.1000 0.0100 ]; + + RSCALEe = [ 0.1000 0.1000 1.0000 10.0000 ]; + +***** assert (Ao, Ae, 1e-4); +***** assert (Eo, Ee, 1e-4); +***** assert (Bo, Be, 1e-4); +***** assert (Co, Ce, 1e-4); +***** assert (INFOo.SL, LSCALEe.', 1e-4); +***** assert (INFOo.SR, RSCALEe.', 1e-4); +22 tests, 22 passed, 0 known failure, 0 skipped +[inst/@lti/horzcat.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/horzcat.m +***** shared M, Me + A1 = [ 1.0 0.0 -1.0 + 0.0 -1.0 1.0 + 1.0 1.0 2.0 ]; + + B1 = [ 1.0 1.0 0.0 + 2.0 0.0 1.0 ].'; + + C1 = [ 3.0 -2.0 1.0 + 0.0 1.0 0.0 ]; + + D1 = [ 1.0 0.0 + 0.0 1.0 ]; + + A2 = [-3.0 0.0 0.0 + 1.0 0.0 1.0 + 0.0 -1.0 2.0 ]; + + B2 = [ 0.0 -1.0 0.0 + 1.0 0.0 2.0 ].'; + + C2 = [ 1.0 1.0 0.0 + 1.0 1.0 -1.0 ]; + + D2 = [ 1.0 1.0 + 0.0 1.0 ]; + + sys1 = ss (A1, B1, C1, D1); + sys2 = ss (A2, B2, C2, D2); + sys = [sys1, sys2]; + [A, B, C, D] = ssdata (sys); + M = [A, B; C, D]; + + Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 + 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 + 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000 + 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ]; + + Be = [ 1.0000 2.0000 0.0000 0.0000 + 1.0000 0.0000 0.0000 0.0000 + 0.0000 1.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 1.0000 + 0.0000 0.0000 -1.0000 0.0000 + 0.0000 0.0000 0.0000 2.0000 ]; + + Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000 + 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; + + De = [ 1.0000 0.0000 1.0000 1.0000 + 0.0000 1.0000 0.0000 1.0000 ]; + + Me = [Ae, Be; Ce, De]; + +***** assert (M, Me, 1e-4); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@lti/zpkdata.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/zpkdata.m +***** test + ze = {[1];[-2 ; 0]}; + pe = {[-1 ; 0];[-4 ; -3 ; -1]}; + ke = [ 5 ; 10 ]; + sys = zpk (ze, pe, ke); + [zo, po, ko] = zpkdata (sys); + assert (zo, ze, 1e-4); + assert (po, pe, 1e-4); + assert (ko, ke, 1e-4); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@lti/pole.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/pole.m +***** shared pol_exp, pol_obs + A = [-1, 0, 0; + 0, -2, 0; + 0, 0, -3]; + pol_exp = [-3; + -2; + -1]; + pol_obs = pole (ss (A, ones (3, 1))); + +***** assert(pol_obs, pol_exp, 0); +***** shared pol, pol_exp, infp, kronr, kronl, infp_exp, kronr_exp, kronl_exp + A = [ 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 1 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 + 0 0 0 0 0 0 0 0 1 ]; + + E = [ 0 0 0 0 0 0 0 0 0 + 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 ]; + + B = [ -1 0 0 + 0 0 0 + 0 0 0 + 0 -1 0 + 0 0 0 + 0 0 0 + 0 0 -1 + 0 0 0 + 0 0 0 ]; + + C = [ 0 1 1 0 3 4 0 0 2 + 0 1 0 0 4 0 0 2 0 + 0 0 1 0 -1 4 0 -2 2 ]; + + D = [ 1 2 -2 + 0 -1 -2 + 0 0 0 ]; + + sys = dss (A, B, C, D, E, "scaled", true); + [pol, ~, infp, kronr, kronl] = __sl_ag08bd__ (A, E, [], [], [], true); + + pol_exp = zeros (0,1); + + infp_exp = [0, 3]; + kronr_exp = zeros (1,0); + kronl_exp = zeros (1,0); + +***** assert (pol, pol_exp, 1e-4); +***** assert (infp, infp_exp); +***** assert (kronr, kronr_exp); +***** assert (kronl, kronl_exp); +5 tests, 5 passed, 0 known failure, 0 skipped +[inst/@lti/sminreal.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/sminreal.m +***** shared B, C + + A = ss (-2, 3, 4, 5); + B = A / A; + C = sminreal (B); # no states should be removed + +***** assert (C.a, B.a); +***** assert (C.b, B.b); +***** assert (C.c, B.c); +***** assert (C.d, B.d); +***** shared A, B, D, E + + A = ss (-1, 1, 1, 0); + B = ss (-2, 3, 4, 5); + C = [A, B]; + D = sminreal (C(:, 1)); + E = sminreal (C(:, 2)); + +***** assert (D.a, A.a); +***** assert (D.b, A.b); +***** assert (D.c, A.c); +***** assert (D.d, A.d); +***** assert (E.a, B.a); +***** assert (E.b, B.b); +***** assert (E.c, B.c); +***** assert (E.d, B.d); +12 tests, 12 passed, 0 known failure, 0 skipped +[inst/@lti/plus.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@lti/plus.m +***** shared M, Me + A1 = [ 1.0 0.0 -1.0 + 0.0 -1.0 1.0 + 1.0 1.0 2.0 ]; + + B1 = [ 1.0 1.0 0.0 + 2.0 0.0 1.0 ].'; + + C1 = [ 3.0 -2.0 1.0 + 0.0 1.0 0.0 ]; + + D1 = [ 1.0 0.0 + 0.0 1.0 ]; + + A2 = [-3.0 0.0 0.0 + 1.0 0.0 1.0 + 0.0 -1.0 2.0 ]; + + B2 = [ 0.0 -1.0 0.0 + 1.0 0.0 2.0 ].'; + + C2 = [ 1.0 1.0 0.0 + 1.0 1.0 -1.0 ]; + + D2 = [ 1.0 1.0 + 0.0 1.0 ]; + + sys1 = ss (A1, B1, C1, D1); + sys2 = ss (A2, B2, C2, D2); + sys = sys1 + sys2; + [A, B, C, D] = ssdata (sys); + M = [A, B; C, D]; + + Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000 + 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000 + 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 -3.0000 0.0000 0.0000 + 0.0000 0.0000 0.0000 1.0000 0.0000 1.0000 + 0.0000 0.0000 0.0000 0.0000 -1.0000 2.0000 ]; + + Be = [ 1.0000 2.0000 + 1.0000 0.0000 + 0.0000 1.0000 + 0.0000 1.0000 + -1.0000 0.0000 + 0.0000 2.0000 ]; + + Ce = [ 3.0000 -2.0000 1.0000 1.0000 1.0000 0.0000 + 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ]; + + De = [ 2.0000 1.0000 + 0.0000 2.0000 ]; + + Me = [Ae, Be; Ce, De]; + +***** assert (M, Me, 1e-4); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/pzmap.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/pzmap.m +***** demo + z = tf('z',1); + G1z = (z+1)/(z-0.75)/(z^2-1*z+1); + pzmap(G1z); +***** demo + s = tf('s'); + G1 = 1/(2*s^2+3*s+4); + G2 = (1-s)/(1+s)/(s^2+s+1); + pzmap(G1,G2); +***** test + s = tf('s'); + G = (s-1)/(s-2)/(s-3); + [pol zer] = pzmap(G); + assert(sort(pol), [2 3]', 2*eps); + assert(zer, 1, eps); +***** test + s = tf('s'); + g = 1/(2*s^2+3*s+4); + pol = pzmap(g); + assert(sort(pol), sort(roots([2 3 4]')), eps); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/estim.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/estim.m +***** test + sys = ss (-2, 1, 1, 3); + est = estim (sys, 5); + [a, b, c, d] = ssdata (est); + m = [a, b; c, d]; + m_exp = [-7, 5; 1, 0; 1, 0]; + assert (m, m_exp, 1e-4); +***** test + sys = ss (-1, 2, 3, 4); + est = estim (sys, 5); + [a, b, c, d] = ssdata (est); + m = [a, b; c, d]; + m_exp = [-16, 5; 3, 0; 1, 0]; + assert (m, m_exp, 1e-4); +***** shared A, B, C, D, L, sysd, x0, xo0, u, k, y, x + A = [ 0 1 0 ; 0 0 1 ; 0.5120 0.640 -0.800]; + B = [ 0; 0; 1 ]; + C = [ 0.1 0 0 ]; + D = 1; + L = place (A',C',zeros(1,3))'; % Deadbeat + sysd = ss (A,B,C,D,1); + x0 = [ .1 .1 .1 ]; + xo0 = [ 0 0 0 ]; + k = 0:1:25; + u = 0.1*sin(0.5*k).*cos(0.4*k).^2; + [y,t,x] = lsim (sysd, u, k, x0); +***** test + estc = estim (sysd, L, [], 1, 'current'); + [yoc,t,~] = lsim (estc, [u' y], k, xo0); + xoc = yoc(:,2:end); + ec = xoc - x; + assert (ec(3,:), zeros(1,3), 1e-4); % ed already zero for k = 2 +***** test + estd = estim (sysd, L, [], 1); + [yod,t,~] = lsim (estd, [u' y], k, xo0); + xod = yod(:,2:end); + ed = xod - x; + assert (ed(1,:), xo0 - x0, 1e-4); % ec not corrected at k = 0 + assert (ed(4,:), zeros(1,3), 1e-4); % ec zero for k = 3 +4 tests, 4 passed, 0 known failure, 0 skipped [inst/lyapchol.m] >>>>> /build/reproducible-path/octave-control-4.1.3/inst/lyapchol.m ***** shared U, U_exp, X, X_exp @@ -11127,94 +10631,8 @@ ***** assert (U, U_exp, 1e-4); 3 tests, 3 passed, 0 known failure, 0 skipped -[inst/hsvd.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/hsvd.m -***** shared hsv, hsv_exp - a = [ -0.04165 0.0000 4.9200 -4.9200 0.0000 0.0000 0.0000 - -5.2100 -12.500 0.0000 0.0000 0.0000 0.0000 0.0000 - 0.0000 3.3300 -3.3300 0.0000 0.0000 0.0000 0.0000 - 0.5450 0.0000 0.0000 0.0000 -0.5450 0.0000 0.0000 - 0.0000 0.0000 0.0000 4.9200 -0.04165 0.0000 4.9200 - 0.0000 0.0000 0.0000 0.0000 -5.2100 -12.500 0.0000 - 0.0000 0.0000 0.0000 0.0000 0.0000 3.3300 -3.3300]; - - b = [ 0.0000 0.0000 - 12.5000 0.0000 - 0.0000 0.0000 - 0.0000 0.0000 - 0.0000 0.0000 - 0.0000 12.500 - 0.0000 0.0000]; - - c = [ 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 - 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000]; - - sys = ss (a, b, c, [], "scaled", true); - hsv = hsvd (sys, "alpha", 0.0); - - hsv_exp = [2.5139; 2.0846; 1.9178; 0.7666; 0.5473; 0.0253; 0.0246]; - -***** assert (hsv, hsv_exp, 1e-4); -1 test, 1 passed, 0 known failure, 0 skipped -[inst/kalman.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/kalman.m -***** test - sys = ss (-2, 1, 1, 3); - [est, g, x] = kalman (sys, 1, 1, 1); - [a, b, c, d] = ssdata (est); - m = [a, b; c, d]; - m_exp = [-2.25, 0.25; 1, 0; 1, 0]; - g_exp = 0.25; - x_exp = 0; - assert (m, m_exp, 1e-2); - assert (g, g_exp, 1e-2); - assert (x, x_exp, 1e-2); -***** shared n, nw, A, B, C, D, Bw, Dw, sys, Q, R, N, Pinf, K - n = 3; - nw = 2; - - A = [1.1269 -0.4940 0.1129 - 1.0000 0 0 - 0 1.0000 0]; - B = [-0.3832 - 0.5919 - 0.5191]; - Bw = rand(n,nw); - B = [B Bw]; - C = [1 0 0]; - D = [1]; - Dw = zeros(1,nw); - D = [D Dw]; - sys = ss(A,B,C,D,1); - Q = eye(nw,nw); - R = 1; - N = []; - PP = eye(3,3); - # asymptotic filter equations - for i = 1:10 - Pinf = A*PP*A' + Bw*Q*Bw'; - K = Pinf*C'*inv(C*Pinf*C'+R); - PP = (eye(3,3)-K*C)*Pinf; - endfor; -***** test - [kalmf,L,P] = kalman(sys,Q,R,N,1,1); - assert (Pinf, P, 4e-4); - assert (inv(A)*L, K, 2e-4); - assert (kalmf.a, A-L*C, 1e-4); -***** test - [kalmfc,Lc,Pc] = kalman(sys,Q,R,N,1,1,'current'); - assert (Pinf, Pc, 4e-4); - assert (inv(A)*Lc, K, 2e-4); - assert (kalmfc.a, A-A*K*C, 1e-4); -3 tests, 3 passed, 0 known failure, 0 skipped -[inst/mag2db.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/mag2db.m -***** assert (mag2db (100), 40); -***** assert (mag2db (0.1), -20); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/cfconred.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/cfconred.m +[inst/fwcfconred.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/fwcfconred.m ***** shared Mo, Me, Info, HSVe A = [ 0 1.0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 @@ -11240,89 +10658,707 @@ G = ss (A, B, C, D); % "scaled", false - F = [ 4.4721e-002 6.6105e-001 4.6986e-003 3.6014e-001 1.0325e-001 -3.7541e-002 -4.2685e-002 3.2873e-002 ]; + F = [ 4.472135954999638e-002 6.610515358414598e-001 4.698598960657579e-003 3.601363251422058e-001 1.032530880771415e-001 -3.754055214487997e-002 -4.268536964759344e-002 3.287284547842979e-002 ]; - L = [ 4.1089e-001 - 8.6846e-002 - 3.8523e-004 - -3.6194e-003 - -8.8037e-003 - 8.4205e-003 - 1.2349e-003 - 4.2632e-003 ]; + L = [ 4.108939884667451e-001 + 8.684600000000012e-002 + 3.852317308197148e-004 + -3.619366874815911e-003 + -8.803722876359955e-003 + 8.420521094001852e-003 + 1.234944428038507e-003 + 4.263205617645322e-003 ]; - [Kr, Info] = cfconred (G, F, L, 4, "method", "bfsr-bta", "cf", "left", "feedback", "+"); + [Kr, Info] = fwcfconred (G, F, L, 2, "method", "bfsr", "cf", "right", "feedback", "+"); [Ao, Bo, Co, Do] = ssdata (Kr); - Ae = [ 5.9461e-01 -7.3360e-01 1.9139e-01 -3.3685e-01 - 5.9599e-01 -1.8394e-02 -1.0883e-01 2.0703e-02 - 1.2253e+00 2.0431e-01 1.0090e-01 -1.4948e+00 - -3.3005e-02 -2.4264e-02 1.3440e+00 3.5040e-03 ]; + Ae = [ -0.4334 0.4884 + -0.1950 -0.1093 ]; - Be = [ 1.4615e-03 - -2.0156e-02 - 1.5922e-02 - -5.4442e-02 ]; + Be = [ -0.4231 + -0.1785 ]; - Ce = [ 0.353400 0.027400 0.033700 -0.032000 ]; + Ce = [ -0.0326 -0.2307 ]; De = [ 0.0000 ]; - HSVe = [ 4.9078 4.8745 3.8455 3.7811 1.2289 1.1785 0.5176 0.1148 ].'; + HSVe = [ 3.3073 0.7274 0.1124 0.0784 0.0242 0.0182 0.0101 0.0094 ].'; - Mo = [Do, Co*Bo, Co*Ao*Bo, Co*Ao^2*Bo, Co*Ao^3*Bo, Co*Ao^4*Bo]; - Me = [De, Ce*Be, Ce*Ae*Be, Ce*Ae^2*Be, Ce*Ae^3*Be, Ce*Ae^4*Be]; + Mo = [Ao, Bo; Co, Do]; + Me = [Ae, Be; Ce, De]; ***** assert (Mo, Me, 1e-4); ***** assert (Info.hsv, HSVe, 1e-4); 2 tests, 2 passed, 0 known failure, 0 skipped -[inst/margin.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/margin.m -***** shared margin_c, margin_c_exp, margin_d, margin_d_exp - sysc = tf ([24], [1, 6, 11, 6]); - [gamma_c, phi_c, w_gamma_c, w_phi_c] = margin (sysc); - sysd = c2d (sysc, 0.3); - [gamma_d, phi_d, w_gamma_d, w_phi_d] = margin (sysd); +[inst/rlocus.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/rlocus.m +***** demo + s = tf('s'); + g = (s^2+2*s+2)/(s*(s^4+9*s^3+33*s^2+51*s+26)); + rlocus(g); +***** test + num = [0 0 1]; + den = [1 2 0]; + G = tf(num,den); + [rldata,ko,~,gvec] = rlocus(G); + idx = floor(length(gvec)/2); + go = gvec(idx); + rlo = rldata(1,idx); + ke = 1; + rle = roots (den + go*num); + assert (ko, ke, 1e-4); + assert (rlo, rle(2), 1e-4); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/pole.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/pole.m +***** shared pol_exp, pol_obs + A = [-1, 0, 0; + 0, -2, 0; + 0, 0, -3]; + pol_exp = [-3; + -2; + -1]; + pol_obs = pole(A); +***** assert(pol_obs, pol_exp, 0); +***** shared pol, pol_exp, infp, kronr, kronl, infp_exp, kronr_exp, kronl_exp + A = [ 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 1 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 1 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 + 0 0 0 0 0 0 0 0 1 ]; - margin_c = [gamma_c, phi_c, w_gamma_c, w_phi_c]; - margin_d = [gamma_d, phi_d, w_gamma_d, w_phi_d]; + E = [ 0 0 0 0 0 0 0 0 0 + 1 0 0 0 0 0 0 0 0 + 0 1 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 1 0 0 0 0 0 + 0 0 0 0 1 0 0 0 0 + 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 1 0 0 + 0 0 0 0 0 0 0 1 0 ]; - ## results from this implementation and the "dark side" diverge - ## from the third digit after the decimal point on + B = [ -1 0 0 + 0 0 0 + 0 0 0 + 0 -1 0 + 0 0 0 + 0 0 0 + 0 0 -1 + 0 0 0 + 0 0 0 ]; - gamma_c_exp = 2.50; - phi_c_exp = 35.43; - w_gamma_c_exp = 3.32; - w_phi_c_exp = 2.06; + C = [ 0 1 1 0 3 4 0 0 2 + 0 1 0 0 4 0 0 2 0 + 0 0 1 0 -1 4 0 -2 2 ]; - gamma_d_exp = 1.41; - phi_d_exp = 18.60; - w_gamma_d_exp = 2.48; - w_phi_d_exp = 2.04; + D = [ 1 2 -2 + 0 -1 -2 + 0 0 0 ]; - margin_c_exp = [gamma_c_exp, phi_c_exp, w_gamma_c_exp, w_phi_c_exp]; - margin_d_exp = [gamma_d_exp, phi_d_exp, w_gamma_d_exp, w_phi_d_exp]; + sys = dss (A, B, C, D, E, "scaled", true); + [pol, ~, infp, kronr, kronl] = __sl_ag08bd__ (A, E, [], [], [], true); -***** assert (margin_c, margin_c_exp, 1e-2); -***** assert (margin_d, margin_d_exp, 1e-2); -2 tests, 2 passed, 0 known failure, 0 skipped -[inst/bode.m] ->>>>> /build/reproducible-path/octave-control-4.1.3/inst/bode.m -***** demo - s = tf('s'); - g = 1/(2*s^2+3*s+4); - bode(g); + pol_exp = zeros (0,1); + + infp_exp = [0, 3]; + kronr_exp = zeros (1,0); + kronl_exp = zeros (1,0); + +***** assert (pol, pol_exp, 1e-4); +***** assert (infp, infp_exp); +***** assert (kronr, kronr_exp); +***** assert (kronl, kronl_exp); +5 tests, 5 passed, 0 known failure, 0 skipped +[inst/acker.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/acker.m ***** test - s = tf('s'); - K = 1; - T = 2; - g = K/(1+T*s); - [mag phas w] = bode(g); - mag_dB = 20*log10(mag); - index = find(mag_dB < -3,1); - w_cutoff = w(index); - assert (1/T, w_cutoff, eps); + # https://en.wikipedia.org/wiki/Ackermann's_formula#Example + A = [1 1; 1 2]; + B = [1; 0]; + P = roots ([1 11 30]); + K = acker(A,B,P); + assert (K, [14 57]); 1 test, 1 passed, 0 known failure, 0 skipped +[inst/@iddata/fft.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/fft.m +***** shared DATD, Y, U + Y = 1:10; + U = 20:-2:1; + W = warning ("query", "iddata:transpose"); + warning ("off", W.identifier); + DAT = iddata (Y, U); + DATD = fft (DAT); + warning (W.identifier, W.state); +***** assert (DATD.y{1}, Y, 1e-10); +***** assert (DATD.u{1}, U, 1e-10); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/@iddata/detrend.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/detrend.m +***** shared DATD, Z + DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']}); + DATD = detrend (DAT, "linear"); + Z = zeros (10, 2); +***** assert (DATD.y{1}, Z, 1e-10); +***** assert (DATD.y{2}, Z, 1e-10); +***** assert (DATD.u{1}, Z, 1e-10); +***** assert (DATD.u{2}, Z, 1e-10); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/@iddata/cat.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/cat.m +***** error (cat (1, iddata (1, 1), iddata ({2, 3}, {2, 3}))); +1 test, 1 passed, 0 known failure, 0 skipped +[inst/@iddata/iddata.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/iddata.m +***** error (iddata); +***** error (iddata ((1:10).', (1:11).')); +***** warning (iddata (1:10)); +***** warning (iddata (1:10, 1:10)); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/@iddata/filter.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/@iddata/filter.m +***** shared DATD, Z + DAT = iddata ({[(1:10).', (1:2:20).'], [(10:-1:1).', (20:-2:1).']}, {[(41:50).', (46:55).'], [(61:70).', (-66:-1:-75).']}); + DATD = detrend (DAT, "linear"); + Z = zeros (10, 2); +***** assert (DATD.y{1}, Z, 1e-10); +***** assert (DATD.y{2}, Z, 1e-10); +***** assert (DATD.u{1}, Z, 1e-10); +***** assert (DATD.u{2}, Z, 1e-10); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/covar.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/covar.m +***** shared p, q, p_exp, q_exp + sys = ss (-1, 1, 1, 0); + [p, q] = covar (sys, 5); + p_exp = 2.5000; + q_exp = 2.5000; +***** assert (p, p_exp, 1e-4); +***** assert (q, q_exp, 1e-4); +***** shared p, q, p_exp, q_exp + sys = ss ([-0.2, -0.5; 1, 0], [2; 0], [1, 0.5], [0], 0.1); + [p, q] = covar (sys, 5); + p_exp = 30.3167; + q_exp = [27.1493, -3.6199; -3.6199, 27.1493]; +***** assert (p, p_exp, 1e-4); +***** assert (q, q_exp, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/lyap.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/lyap.m +***** shared M, Me + A = [2.0 1.0 3.0 + 0.0 2.0 1.0 + 6.0 1.0 2.0]; + Q = [3 1 1 + 1 1 -1 + 1 -1 0]; + X = lyap (A, Q); + M = A*X + X*A' + Q; + Me = zeros (3,3); +***** assert (M, Me, 1e-4); +***** shared M, Me + A = [2.0 1.0 3.0 + 0.0 2.0 1.0 + 6.0 1.0 2.0]; + Q = [3 1 -3 + 0 1 -2 + 1 1 0]; + X = lyap (A, Q); + M = A*X + X*A' + Q; + Me = zeros (3,3); +***** assert (M, Me, 1e-4); +***** shared X, X_exp + A = [2.0 1.0 3.0 + 0.0 2.0 1.0 + 6.0 1.0 2.0]; + + B = [2.0 1.0 + 1.0 6.0]; + + C = [2.0 1.0 + 1.0 4.0 + 0.0 5.0]; + + X = lyap (A, B, -C); + + X_exp = [-2.7685 0.5498 + -1.0531 0.6865 + 4.5257 -0.4389]; + +***** assert (X, X_exp, 1e-4); +***** shared X, X_exp + A = [ 3.0 1.0 1.0 + 1.0 3.0 0.0 + 1.0 0.0 2.0]; + + E = [ 1.0 3.0 0.0 + 3.0 2.0 1.0 + 1.0 0.0 1.0]; + + B = [-64.0 -73.0 -28.0 + -73.0 -70.0 -25.0 + -28.0 -25.0 -18.0]; + + X = lyap (A.', -B, [], E.'); + + X_exp = [-2.0000 -1.0000 0.0000 + -1.0000 -3.0000 -1.0000 + 0.0000 -1.0000 -3.0000]; + +***** assert (X, X_exp, 1e-4); +4 tests, 4 passed, 0 known failure, 0 skipped +[inst/ncfsyn.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/ncfsyn.m +***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe + A = [ -1.0 0.0 4.0 5.0 -3.0 -2.0 + -2.0 4.0 -7.0 -2.0 0.0 3.0 + -6.0 9.0 -5.0 0.0 2.0 -1.0 + -8.0 4.0 7.0 -1.0 -3.0 0.0 + 2.0 5.0 8.0 -9.0 1.0 -4.0 + 3.0 -5.0 8.0 0.0 2.0 -6.0 ]; + + B = [ -3.0 -4.0 + 2.0 0.0 + -5.0 -7.0 + 4.0 -6.0 + -3.0 9.0 + 1.0 -2.0 ]; + + C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 + -3.0 0.0 5.0 -1.0 1.0 1.0 + -7.0 5.0 0.0 -8.0 2.0 -2.0 ]; + + D = [ 1.0 -2.0 + 0.0 4.0 + 5.0 -3.0 ]; + + FACTOR = 1.0; + + [AK, BK, CK, DK, RCOND] = __sl_sb10id__ (A, B, C, D, FACTOR); + + AKe = [ -39.0671 9.9293 22.2322 -27.4113 43.8655 + -6.6117 3.0006 11.0878 -11.4130 15.4269 + 33.6805 -6.6934 -23.9953 14.1438 -33.4358 + -32.3191 9.7316 25.4033 -24.0473 42.0517 + -44.1655 18.7767 34.8873 -42.4369 50.8437 ]; + + BKe = [ -10.2905 -16.5382 -10.9782 + -4.3598 -8.7525 -5.1447 + 6.5962 1.8975 6.2316 + -9.8770 -14.7041 -11.8778 + -9.6726 -22.7309 -18.2692 ]; + + CKe = [ -0.6647 -0.0599 -1.0376 0.5619 1.7297 + -8.4202 3.9573 7.3094 -7.6283 10.6768 ]; + + DKe = [ 0.8466 0.4979 -0.6993 + -1.2226 -4.8689 -4.5056 ]; + + RCONDe = [ 0.13861D-01 0.90541D-02 ].'; + +***** assert (AK, AKe, 1e-4); +***** assert (BK, BKe, 1e-4); +***** assert (CK, CKe, 1e-4); +***** assert (DK, DKe, 1e-4); +***** assert (RCOND, RCONDe, 1e-4); +***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe + A = [ -1.0 0.0 4.0 5.0 -3.0 -2.0 + -2.0 4.0 -7.0 -2.0 0.0 3.0 + -6.0 9.0 -5.0 0.0 2.0 -1.0 + -8.0 4.0 7.0 -1.0 -3.0 0.0 + 2.0 5.0 8.0 -9.0 1.0 -4.0 + 3.0 -5.0 8.0 0.0 2.0 -6.0 ]; + + B = [ -3.0 -4.0 + 2.0 0.0 + -5.0 -7.0 + 4.0 -6.0 + -3.0 9.0 + 1.0 -2.0 ]; + + C = [ 1.0 -1.0 2.0 -4.0 0.0 -3.0 + -3.0 0.0 5.0 -1.0 1.0 1.0 + -7.0 5.0 0.0 -8.0 2.0 -2.0 ]; + + D = [ 1.0 -2.0 + 0.0 4.0 + 5.0 -3.0 ]; + + FACTOR = 1.0; + + G = ss (A, B, C, D); + K = ncfsyn (G, [], [], FACTOR); + [AK, BK, CK, DK] = ssdata (K); + + AKe = [ -39.0671 9.9293 22.2322 -27.4113 43.8655 + -6.6117 3.0006 11.0878 -11.4130 15.4269 + 33.6805 -6.6934 -23.9953 14.1438 -33.4358 + -32.3191 9.7316 25.4033 -24.0473 42.0517 + -44.1655 18.7767 34.8873 -42.4369 50.8437 ]; + + BKe = [ -10.2905 -16.5382 -10.9782 + -4.3598 -8.7525 -5.1447 + 6.5962 1.8975 6.2316 + -9.8770 -14.7041 -11.8778 + -9.6726 -22.7309 -18.2692 ]; + + CKe = [ -0.6647 -0.0599 -1.0376 0.5619 1.7297 + -8.4202 3.9573 7.3094 -7.6283 10.6768 ]; + + DKe = [ 0.8466 0.4979 -0.6993 + -1.2226 -4.8689 -4.5056 ]; + + RCONDe = [ 0.13861D-01 0.90541D-02 ]; + +***** assert (AK, AKe, 1e-4); +***** assert (BK, BKe, 1e-4); +***** assert (CK, CKe, 1e-4); +***** assert (DK, DKe, 1e-4); +***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe + A = [ 0.2 0.0 0.3 0.0 -0.3 -0.1 + -0.3 0.2 -0.4 -0.3 0.0 0.0 + -0.1 0.1 -0.1 0.0 0.0 -0.3 + 0.1 0.0 0.0 -0.1 -0.1 0.0 + 0.0 0.3 0.6 0.2 0.1 -0.4 + 0.2 -0.4 0.0 0.0 0.2 -0.2 ]; + + B = [ -1.0 -2.0 + 1.0 3.0 + -3.0 -4.0 + 1.0 -2.0 + 0.0 1.0 + 1.0 5.0 ]; + + C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 + -3.0 0.0 1.0 -1.0 1.0 -1.0 ]; + + FACTOR = 1.1; + + [AK, BK, CK, DK, RCOND] = __sl_sb10kd__ (A, B, C, FACTOR); + + AKe = [ 0.0337 0.0222 0.0858 0.1264 -0.1872 0.1547 + 0.4457 0.0668 -0.2255 -0.3204 -0.4548 -0.0691 + -0.2419 -0.2506 -0.0982 -0.1321 -0.0130 -0.0838 + -0.4402 0.3654 -0.0335 -0.2444 0.6366 -0.6469 + -0.3623 0.3854 0.4162 0.4502 0.0065 0.1261 + -0.0121 -0.4377 0.0604 0.2265 -0.3389 0.4542 ]; + + BKe = [ 0.0931 -0.0269 + -0.0872 0.1599 + 0.0956 -0.1469 + -0.1728 0.0129 + 0.2022 -0.1154 + 0.2419 -0.1737 ]; + + CKe = [ -0.3677 0.2188 0.0403 -0.0854 0.3564 -0.3535 + 0.1624 -0.0708 0.0058 0.0606 -0.2163 0.1802 ]; + + DKe = [ -0.0857 -0.0246 + 0.0460 0.0074 ]; + + RCONDe = [ 0.11269D-01 0.17596D-01 0.18225D+00 0.75968D-03 ].'; + +***** assert (AK, AKe, 1e-4); +***** assert (BK, BKe, 1e-4); +***** assert (CK, CKe, 1e-4); +***** assert (DK, DKe, 1e-4); +***** assert (RCOND, RCONDe, 1e-4); +***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe + A = [ 0.2 0.0 0.3 0.0 -0.3 -0.1 + -0.3 0.2 -0.4 -0.3 0.0 0.0 + -0.1 0.1 -0.1 0.0 0.0 -0.3 + 0.1 0.0 0.0 -0.1 -0.1 0.0 + 0.0 0.3 0.6 0.2 0.1 -0.4 + 0.2 -0.4 0.0 0.0 0.2 -0.2 ]; + + B = [ -1.0 -2.0 + 1.0 3.0 + -3.0 -4.0 + 1.0 -2.0 + 0.0 1.0 + 1.0 5.0 ]; + + C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 + -3.0 0.0 1.0 -1.0 1.0 -1.0 ]; + + FACTOR = 1.1; + + G = ss (A, B, C, [], 1); # value of sampling time doesn't matter + K = ncfsyn (G, [], [], FACTOR); + [AK, BK, CK, DK] = ssdata (K); + + AKe = [ 0.0337 0.0222 0.0858 0.1264 -0.1872 0.1547 + 0.4457 0.0668 -0.2255 -0.3204 -0.4548 -0.0691 + -0.2419 -0.2506 -0.0982 -0.1321 -0.0130 -0.0838 + -0.4402 0.3654 -0.0335 -0.2444 0.6366 -0.6469 + -0.3623 0.3854 0.4162 0.4502 0.0065 0.1261 + -0.0121 -0.4377 0.0604 0.2265 -0.3389 0.4542 ]; + + BKe = [ 0.0931 -0.0269 + -0.0872 0.1599 + 0.0956 -0.1469 + -0.1728 0.0129 + 0.2022 -0.1154 + 0.2419 -0.1737 ]; + + CKe = [ -0.3677 0.2188 0.0403 -0.0854 0.3564 -0.3535 + 0.1624 -0.0708 0.0058 0.0606 -0.2163 0.1802 ]; + + DKe = [ -0.0857 -0.0246 + 0.0460 0.0074 ]; + + RCONDe = [ 0.11269D-01 0.17596D-01 0.18225D+00 0.75968D-03 ].'; + +***** assert (AK, AKe, 1e-4); +***** assert (BK, BKe, 1e-4); +***** assert (CK, CKe, 1e-4); +***** assert (DK, DKe, 1e-4); +***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe + A = [ 0.2 0.0 3.0 0.0 -0.3 -0.1 + -3.0 0.2 -0.4 -0.3 0.0 0.0 + -0.1 0.1 -1.0 0.0 0.0 -3.0 + 1.0 0.0 0.0 -1.0 -1.0 0.0 + 0.0 0.3 0.6 2.0 0.1 -0.4 + 0.2 -4.0 0.0 0.0 0.2 -2.0 ]; + + B = [ -1.0 -2.0 + 1.0 3.0 + -3.0 -4.0 + 1.0 -2.0 + 0.0 1.0 + 1.0 5.0 ]; + + C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 + -3.0 0.0 1.0 -1.0 1.0 -1.0 + 2.0 4.0 -3.0 0.0 5.0 1.0 ]; + + D = [ 10.0 -6.0 + -7.0 8.0 + 2.0 -4.0 ]; + + FACTOR = 1.1; + + [AK, BK, CK, DK, RCOND] = __sl_sb10zd__ (A, B, C, D, FACTOR, 0.0); + + AKe = [ 1.0128 0.5101 -0.1546 1.1300 3.3759 0.4911 + -2.1257 -1.4517 -0.4486 0.3493 -1.5506 -1.4296 + -1.0930 -0.6026 -0.1344 0.2253 -1.5625 -0.6762 + 0.3207 0.1698 0.2376 -1.1781 -0.8705 0.2896 + 0.5017 0.9006 0.0668 2.3613 0.2049 0.3703 + 1.0787 0.6703 0.2783 -0.7213 0.4918 0.7435 ]; + + BKe = [ 0.4132 0.3112 -0.8077 + 0.2140 0.4253 0.1811 + -0.0710 0.0807 0.3558 + -0.0121 -0.2019 0.0249 + 0.1047 0.1399 -0.0457 + -0.2542 -0.3472 0.0523 ]; + + CKe = [ -0.0372 -0.0456 -0.0040 0.0962 -0.2059 -0.0571 + 0.1999 0.2994 0.1335 -0.0251 -0.3108 0.2048 ]; + + DKe = [ 0.0629 -0.0022 0.0363 + -0.0228 0.0195 0.0600 ]; + + RCONDe = [ 0.27949D-03 0.66679D-03 0.45677D-01 0.23433D-07 0.68495D-01 0.76854D-01 ].'; + +***** assert (AK, AKe, 1e-4); +***** assert (BK, BKe, 1e-4); +***** assert (CK, CKe, 1e-4); +***** assert (DK, DKe, 1e-4); +***** assert (RCOND, RCONDe, 1e-4); +***** shared AK, BK, CK, DK, RCOND, AKe, BKe, CKe, DKe, RCONDe + A = [ 0.2 0.0 3.0 0.0 -0.3 -0.1 + -3.0 0.2 -0.4 -0.3 0.0 0.0 + -0.1 0.1 -1.0 0.0 0.0 -3.0 + 1.0 0.0 0.0 -1.0 -1.0 0.0 + 0.0 0.3 0.6 2.0 0.1 -0.4 + 0.2 -4.0 0.0 0.0 0.2 -2.0 ]; + + B = [ -1.0 -2.0 + 1.0 3.0 + -3.0 -4.0 + 1.0 -2.0 + 0.0 1.0 + 1.0 5.0 ]; + + C = [ 1.0 -1.0 2.0 -2.0 0.0 -3.0 + -3.0 0.0 1.0 -1.0 1.0 -1.0 + 2.0 4.0 -3.0 0.0 5.0 1.0 ]; + + D = [ 10.0 -6.0 + -7.0 8.0 + 2.0 -4.0 ]; + + FACTOR = 1.1; + + G = ss (A, B, C, D, 1); # value of sampling time doesn't matter + K = ncfsyn (G, [], [], FACTOR); + [AK, BK, CK, DK] = ssdata (K); + + AKe = [ 1.0128 0.5101 -0.1546 1.1300 3.3759 0.4911 + -2.1257 -1.4517 -0.4486 0.3493 -1.5506 -1.4296 + -1.0930 -0.6026 -0.1344 0.2253 -1.5625 -0.6762 + 0.3207 0.1698 0.2376 -1.1781 -0.8705 0.2896 + 0.5017 0.9006 0.0668 2.3613 0.2049 0.3703 + 1.0787 0.6703 0.2783 -0.7213 0.4918 0.7435 ]; + + BKe = [ 0.4132 0.3112 -0.8077 + 0.2140 0.4253 0.1811 + -0.0710 0.0807 0.3558 + -0.0121 -0.2019 0.0249 + 0.1047 0.1399 -0.0457 + -0.2542 -0.3472 0.0523 ]; + + CKe = [ -0.0372 -0.0456 -0.0040 0.0962 -0.2059 -0.0571 + 0.1999 0.2994 0.1335 -0.0251 -0.3108 0.2048 ]; + + DKe = [ 0.0629 -0.0022 0.0363 + -0.0228 0.0195 0.0600 ]; + + RCONDe = [ 0.27949D-03 0.66679D-03 0.45677D-01 0.23433D-07 0.68495D-01 0.76854D-01 ].'; + +***** assert (AK, AKe, 1e-4); +***** assert (BK, BKe, 1e-4); +***** assert (CK, CKe, 1e-4); +***** assert (DK, DKe, 1e-4); +27 tests, 27 passed, 0 known failure, 0 skipped +[inst/dare.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/dare.m +***** shared x, l, g, xe, le, ge + a = [ 0.4 1.7 + 0.9 3.8]; + + b = [ 0.8 + 2.1]; + + c = [ 1 -1]; + + r = 3; + + [x, l, g] = dare (a, b, c.'*c, r); + + xe = [ 1.5354 1.2623 + 1.2623 10.5596]; + + le = [-0.0022 + 0.2454]; + + ge = [ 0.4092 1.7283]; + +***** assert (x, xe, 1e-4); +***** assert (sort (l), sort (le), 1e-4); +***** assert (g, ge, 1e-4); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/thiran.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/thiran.m +***** shared num, den, expc + expc = [1, 0.5294, -0.04813, 0.004159]; + sys = thiran (2.4, 1); + [num, den] = tfdata (sys, "vector"); +***** assert (den, expc, 1e-4); +***** assert (num, fliplr (expc), 1e-4); +***** shared num, den + sys = thiran (0.5, 0.1); + [num, den] = tfdata (sys, "vector"); +***** assert (den, [1, 0, 0, 0, 0, 0], eps); +***** assert (num, [0, 0, 0, 0, 0, 1], eps); +***** error (thiran (-1, 1)); +***** error (thiran (1, -1)); +***** error (thiran ([1 2 3], 1)); +7 tests, 7 passed, 0 known failure, 0 skipped +[inst/esort.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/esort.m +***** shared s_exp, ndx_exp, s_obs, ndx_obs + p = [-0.2410+0.5573i; + -0.2410-0.5573i; + 0.1503; + -0.0972; + -0.2590]; + s_exp = [ 0.1503; + -0.0972; + -0.2410+0.5573i; + -0.2410-0.5573i; + -0.2590]; + ndx_exp = [ 3; + 4; + 1; + 2; + 5]; + [s_obs, ndx_obs] = esort(p); +***** assert(s_obs, s_exp, 0); +***** assert(ndx_obs, ndx_exp, 0); +2 tests, 2 passed, 0 known failure, 0 skipped +[inst/damp.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/damp.m +***** test + A = [-1, 0, 0; + 0, -2, 0; + 0, 0, -3 ]; + + Wn_exp = [1; + 2; + 3 ]; + + zeta_exp = [1; + 1; + 1 ]; + + P_exp = [-1; + -2; + -3 ]; + + [Wn_obs, zeta_obs, P_obs] = damp (ss (A, ones (3, 1))); + + assert (Wn_obs, Wn_exp, 0); + assert (zeta_obs, zeta_exp, 0); + assert (P_obs, P_exp, 0); +***** test + H = tf ([2, 5, 1], [1, 2, 3]); + + Wn_exp = [1.7321; + 1.7321 ]; + + zeta_exp = [0.5774; + 0.5774 ]; + + P_exp = [-1.0000 + 1.4142i; + -1.0000 - 1.4142i ]; + + [Wn_obs, zeta_obs, P_obs] = damp (H); + + assert (Wn_obs, Wn_exp, 1e-4); + assert (zeta_obs, zeta_exp, 1e-4); + assert (P_obs, P_exp, 1e-4); +***** test + H = tf ([5, 3, 1], [1, 6, 4, 4], 0.01); + + Wn_exp = [193.4924; + 193.4924; + 356.5264 ]; + + zeta_exp = [ 0.0774; + 0.0774; + -0.4728 ]; + + P_exp = [-0.3020 + 0.8063i; + -0.3020 - 0.8063i; + -5.3961 + 0.0000i ]; + + [Wn_obs, zeta_obs, P_obs] = damp (H); + + assert (Wn_obs, Wn_exp, 1e-4); + assert (zeta_obs, zeta_exp, 1e-4); + assert (P_obs, P_exp, 1e-4); +3 tests, 3 passed, 0 known failure, 0 skipped +[inst/db2mag.m] +>>>>> /build/reproducible-path/octave-control-4.1.3/inst/db2mag.m +***** assert (db2mag (40), 100); +***** assert (db2mag (-20), 0.1); +2 tests, 2 passed, 0 known failure, 0 skipped Checking C++ files ... Done running the unit tests. Summary: 382 tests, 372 passed, 0 known failures, 10 skipped @@ -11352,8 +11388,8 @@ dpkg-gencontrol: warning: package octave-control: substitution variable ${octave:Upstream-Description} unused, but is defined dh_md5sums -O--buildsystem=octave dh_builddeb -O--buildsystem=octave -dpkg-deb: building package 'octave-control' in '../octave-control_4.1.3-1_amd64.deb'. dpkg-deb: building package 'octave-control-dbgsym' in '../octave-control-dbgsym_4.1.3-1_amd64.deb'. +dpkg-deb: building package 'octave-control' in '../octave-control_4.1.3-1_amd64.deb'. dpkg-genbuildinfo --build=binary -O../octave-control_4.1.3-1_amd64.buildinfo dpkg-genchanges --build=binary -O../octave-control_4.1.3-1_amd64.changes dpkg-genchanges: info: binary-only upload (no source code included) @@ -11361,12 +11397,14 @@ dpkg-buildpackage: info: binary-only upload (no source included) dpkg-genchanges: info: including full source code in upload I: copying local configuration +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/B01_cleanup starting +I: user script /srv/workspace/pbuilder/1338386/tmp/hooks/B01_cleanup finished I: unmounting dev/ptmx filesystem I: unmounting dev/pts filesystem I: unmounting dev/shm filesystem I: unmounting proc filesystem I: unmounting sys filesystem I: cleaning the build env -I: removing directory /srv/workspace/pbuilder/3413177 and its subdirectories -I: Current time: Mon Sep 15 17:18:08 -12 2025 -I: pbuilder-time-stamp: 1757999888 +I: removing directory /srv/workspace/pbuilder/1338386 and its subdirectories +I: Current time: Tue Oct 20 01:52:56 +14 2026 +I: pbuilder-time-stamp: 1792410776